Show simple item record

dc.contributor.authorKunz, Tobias
dc.contributor.authorKingston, Peter
dc.contributor.authorStilman, Mike
dc.contributor.authorEgerstedt, Magnus B.
dc.date.accessioned2011-05-15T22:00:49Z
dc.date.available2011-05-15T22:00:49Z
dc.date.issued2011-05
dc.identifier.citationT. Kunz, P. Kingston, M. Stilman, and M. Egerstedt. Dynamic Chess: Strategic Planning for Robot Motion. IEEE International Conference on Robotics and Automation, Shanghai, China, May 2011. To appear.en_US
dc.identifier.urihttp://hdl.handle.net/1853/38868
dc.description.abstractWe introduce and experimentally validate a novel algorithmic model for physical human-robot interaction with hybrid dynamics. Our computational solutions are complementary to passive and compliant hardware. We focus on the case where human motion can be predicted. In these cases, the robot can select optimal motions in response to human actions and maximize safety. By representing the domain as a Markov Game, we enable the robot to not only react to the human but also to construct an infinite horizon optimal policy of actions and responses. Experimentally, we apply our model to simulated robot sword defense. Our approach enables a simulated 7-DOF robot arm to block known attacks in any sequence. We generate optimized blocks and apply game theoretic tools to choose the best action for the defender in the presence of an intelligent adversary.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectHuman-robot interactionen_US
dc.subjectHybrid dynamicsen_US
dc.subjectRobotic motionsen_US
dc.titleDynamic Chess: Strategic Planning for Robot Motionen_US
dc.typePre-printen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineering
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.publisher.originalInstitute of Electrical and Electronics Engineers


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record