Learning control based on intention recognition by inverted two-wheeled mobile robot through interactive operation

Cooperative operation of a human and the robot through the physical interaction has been studied and developed, recently. As one of the human supporting robots, inverted pendulum two-wheeled mobile robots have been proposed to support human transportation with/without a heavy luggage. We have developed a suitcase-type two-wheeled inverted pendulum mobile robot that changes the control parameters according to the user intention[l]. The robot recognizes the user intention by the user's physical operation of the robot. It changes the control parameter according to the recognized user intention and supports the luggage transportation. It is necessary to learn the parameters of the control and user-intention recognition user by user because the user preference is different one by one. This paper proposes a method to learn the control parameters and their corresponding intention recognition parameters of the user for a suitcase-type inverted-pendulum mobile robot for appropriate assistive control. In order to show the validity of the proposed method, it shows some experimental results with a real robot.