A vector field control approach based on a human-inspired velocity equation for uncertain robotic systems without prespecified task trajectory

This article proposes a vector field control (VFC) approach for uncertain robotic systems, which predefines a human-inspired vector field (HIVF) as a reference signal to ensure the human-inspired planning and the high-precision control. First, a human-inspired velocity equation (HIVE) is designed by using the start point and the end point information, which can be used for vector field to ensures the compliance of robot motion. Then, a HIVE-based HIVF is defined, guiding all points to asymptotic convergence toward the endpoint along the vector field direction, thereby achieving compliance trajectory planning. Finally, a VFC approach is proposed without prespecified task trajectory for uncertain robotic systems, which achieves integrated human-inspired planning and control with low computing consumption under disturbances. The proposed approach is analyzed using Liapunov stability theory and verified by simulation.