Physical Human-Robot Interaction through a Jointly-held Object based on Kinesthetic Perception
Paper i proceeding, 2018

This paper deals with the problem of human-robot cooperative object manipulation for cases where the grasp position of the operator can change during task execution similar to human-human collaborative scenarios. In state of the art algorithms for cooperative object handling, a constant grasping position is considered for the operator. In order to accommodate the changes of the human grasping point in the control design, we do not depend on sensors on the operator's hand or on the object but we employ estimates obtained through a recursive least-squares estimator. The estimation algorithm uses only the measured wrenches obtained by a force/torque sensor located at the end-effector of the manipulator. We also propose a switching strategy for a damping controller based on the online estimates. Simulation results are provided in order to demonstrate the proposed method.

human-computer interaction

Författare

Ramin Jaberzadeh Ansari

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Yiannis Karayiannidis

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Jonas Sjöberg

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication

1099-1104 8525657

27th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2018
Nanjing, China,

Ämneskategorier

Robotteknik och automation

Reglerteknik

Datorseende och robotik (autonoma system)

DOI

10.1109/ROMAN.2018.8525657

Mer information

Senast uppdaterat

2019-01-07