Human-robot collaborative object transfer using human motion prediction based on dynamic movement primitives
Paper in proceedings, 2019

This work focuses on the prediction of the human's motion in a collaborative human-robot object transfer with the aim of assisting the human and minimizing his/her effort. The desired pattern of motion is learned from a human demonstration and is encoded with a DMP (Dynamic Movement Primitive). During the object transfer to unknown targets, a model reference with a DMP-based control input and an EKF-based (Extended Kalman Filter) observer for predicting the target and temporal scaling is used. Global boundedness under the emergence of bounded forces with bounded energy is proved. The object dynamics are assumed known. The validation of the proposed approach is performed through experiments using a Kuka LWR4+ robot equipped with an ATI sensor at its end-effector.

Author

Antonis Sidiropoulos

Aristotle University of Thessaloniki

Yiannis Karayiannidis

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Zoe Doulgeri

Aristotle University of Thessaloniki

2019 18th European Control Conference, ECC 2019

2583-2588 8796249

18th European Control Conference, ECC 2019
Naples, Italy,

Subject Categories

Robotics

Control Engineering

Computer Vision and Robotics (Autonomous Systems)

DOI

10.23919/ECC.2019.8796249

More information

Latest update

11/25/2019