Task-based role adaptation for human-robot cooperative object handling
Artikel i vetenskaplig tidskrift, 2021

In this letter, we propose a task-based role allocation control scheme for cooperative manipulation of a rigid-body object jointly held by a human and a robot. The task-based allocation scheme allows an assistive robot to take an active role when the task is known. To deal with the translation/rotation problem, we define rotation and translation as distinct parameterized tasks. The task that describes better human intention is identified by solving an optimization problem with a predefined adjustable similarity factor for each task. The role of the robot while performing the identified task can be directly tuned as a parameter associated with the percentage of the required force for performing the corresponding task and is predefined for each task and degree of freedom, independently. The performance of the proposed control scheme is evaluated via simulation and experiments on a real robot setup.

Physical Human-Robot Interaction

Robot kinematics

Task analysis

Trajectory

Human-Robot Collaboration

Force

Robots

Dynamics

Robot sensing systems

Intention Recognition

Författare

Ramin Jaberzadeh Ansari

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Yiannis Karayiannidis

Kungliga Tekniska Högskolan (KTH)

IEEE Robotics and Automation Letters

2377-3766 (ISSN)

Vol. In Press

Ämneskategorier

Robotteknik och automation

Reglerteknik

Datorseende och robotik (autonoma system)

DOI

10.1109/LRA.2021.3064498

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Senast uppdaterat

2021-03-25