A Framework of Human-Robot Coordination Based on Game Theory and Policy Iteration

In this paper, we propose a framework to analyze the interactive behaviors of humans and robots in physical interactions. Game theory is employed to describe the system under study, and policy iteration is adopted to provide a solution of Nash equilibrium. The human's control objective is estimated based on the measured interaction force, and it is used to adapt the robot's objective such that human-robot coordination can be achieved. The validity of the proposed method is verified through a rigorous proof and experimental studies.