通过物理接触推断人类意图，实现机器人实时自适应运动规划。
Adaptive Motion Planning via Contact-Based Intent Inference for Human-Robot Collaboration
- 从关节扭矩估计接触力与位置，无需额外传感器。
- 实测7自由度机械臂下接触力估计误差小于1.2N。
- 适合需要安全人机协作的工业自动化场景。
人机协作（HRC）要求机器人根据人类意图调整动作以确保共享空间中的安全高效合作。尽管大语言模型（LLMs）能提供高层次的人类意图推理，但在可靠运动规划中的应用仍具挑战。物理人机交互（pHRI）直观但常依赖持续的肌肉引导，给操作者带来负担。为此，提出一种基于接触的自适应运动规划框架，直接从物理接触中推断人类意图，并用于在线运动修正。首先，提出一种基于优化的力估计方法，仅通过关节扭矩测量和机器人动力学模型，推断人类期望的接触力与位置，降低部署成本并实现全身敏感性。其次，引入基于扭矩的接触检测机制，支持链节级定位，缩小优化搜索空间，实现实时估计。随后，开发了接触感知的自适应运动规划器，基于接触信息在线推断人类意图并重规划机器人运动，同时保持平滑性并响应人类修正。最后，在7自由度机械臂上开展实验，验证了所提力估计方法的准确性及接触感知自适应运动规划器在感知不确定性下的有效性。
原文摘要 · Abstract (English)
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent, their application to reliable motion planning in HRC remains challenging. Physical human-robot interaction (pHRI) is intuitive but often relies on continuous kinesthetic guidance, which imposes burdens on operators. To address these challenges, a contact-informed adaptive motion-planning framework is introduced to infer human intent directly from physical contact and employ the inferred intent for online motion correction in HRC. First, an optimization-based force estimation method is proposed to infer human-intended contact forces and locations from joint torque measurements and a robot dynamics model, thereby reducing cost and installation complexity while enabling whole-body sensitivity. Then, a torque-based contact detection mechanism with link-level localization is introduced to reduce the optimization search space and to enable real-time estimation. Subsequently, a contact-informed adaptive motion planner is developed to infer human intent from contacts and to replan robot motion online, while maintaining smoothness and adapting to human corrections. Finally, experiments on a 7-DOF manipulator are conducted to demonstrate the accuracy of the proposed force estimation method and the effectiveness of the contact-informed adaptive motion planner under perception uncertainty in HRC.
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