A seamless interaction requires two robotic behaviors: the leader role where the robot rejects the external perturbations and focuses on the autonomous execution of the task, and the follower role where the robot ignores the task and complies with human intentional forces. The goal of this work is to provide (1) a unified robotic architecture to produce these two roles, and (2) a human-guidance detection algorithm to switch across the two roles. In the absence of human-guidance, the robot performs its task autonomously and upon detection of such guidances the robot passively follows the human motions. We employ dynamical systems to generate task-specific motion and admittance control to generate reactive motions toward the human-guidance. This structure enables the robot to reject undesirable perturbations, track the motions precisely, react to human-guidance by providing proper compliant behavior, and re-plan the motion reactively. We provide analytical investigation of our method in terms of tracking and compliant behavior. Finally, we evaluate our method experimentally using a 6-DoF manipulator.

无缝交互需要两种机器人行为：领导者角色，其中机器人拒绝外部干扰，专注于任务的自主执行；跟随者角色，其中机器人忽略任务，并遵守人为意图的力量。这项工作的目标是提供（1）统一的机器人体系结构以产生这两个角色，以及（2）可以在这两个角色之间切换的人工指导检测算法。在没有人类指导的情况下，机器人会自动执行其任务，并且在检测到此类指导后，机器人将被动地跟随人类的运动。我们采用动力系统来生成特定于任务的运动，并采用导纳控制来生成对人类指导的反应性运动。这种结构使机器人可以消除不希望的干扰，精确地跟踪运动，通过提供适当的依从行为来对人类的指导做出反应，并以反应方式重新计划运动。我们提供有关跟踪和合规行为方面的分析调查。最后，我们使用6自由度机械手通过实验评估我们的方法。