Yixiang (Alex) Lin
Contact information
Thesis title
ReseaRobot control for Human-Robot Co-Learningrch overview.
Research Overview
Physical human-robot interaction (pHRI) is a specialized form of HRI in which forces and motions are exchanged through physical contact during shared tasks performed by a human and a robot. During the interaction, both humans and robots continuously adapt to each other, leading to the co-evolution of the team. To improve performance and ensure human safety in these scenarios, this research proposes integrating safety-guarantee principles from the control perspective with learning-based methods for pHRI problems. The aim is to enhance both the performance and generalization of control systems in pHRI scenarios, especially under uncertain conditions involving human factors, while ensuring safety in practical applications.