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 humanu0027s control objective is estimated based on the measured interaction force, and it is used to adapt the robotu0027s objective such that human–robot coordination can be achieved. The validity of the proposed method is verified through a rigorous proof and experimental studies.