Reducing the human effort for human-robot cooperative object manipulation via control design
Paper in proceedings, 2017

This study is concerned with the shared object manipulation problem in a physical Human-Robot Interaction (pHRI) setting. In such setups, the operator manipulates the object with the help of a robot. In this paper, the operator is assigned with the lead role, and the robot is passively following the forces/torques exerted by the operator. We propose a controller that is free from the well-known translation/rotation problem and enhances the operator’s ability to move the object by reducing the human effort. The key point in our study is that the controller is defined based on the instantaneous center of rotation. The passivity of the system including the object and the manipulator has been evaluated. Simulation results validate the theoretical findings on different scenarios of subsequent rotations and translations of the object.

Physical Human-Robot Interaction

Object manipulation

Author

Ramin Jaberzadeh Ansari

Chalmers, Signals and Systems, Systems and control, Mechatronics

Yiannis Karayiannidis

Chalmers, Signals and Systems, Systems and control, Mechatronics

IFAC-PapersOnLine

24058963 (eISSN)

Vol. 50 1 14922-14927

20th World Congress of the International Federation of Automatic Control, IFAC 2017
Toulouse, France,

Subject Categories

Robotics

DOI

10.1016/j.ifacol.2017.08.2540

More information

Created

9/4/2018 7