Control Method for Human-Robot Cooperative Carrying Task with Translation-Rotary Motion.

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Human-robot cooperative manipulation with motion estimation

In this paper, a control method of robots for human-robot cooperative manipulation is investigated. We propose estimating human motion using the minimum jerk model for smooth cooperation. Using nonlinear least-squares method, we identify two parameters of the minimum-jerk model in real-time. The estimated position of the human hand is used to determine the desired position of the end-effector o...

متن کامل

Human Intention Reading by Fuzzy Cognitive Map: A Human-Robot Cooperative Object Carrying Task

Considering the symbiosis between humans and robots in coming years, robots should be able to infer the implicit human intention for the efficient humanrobot interaction. This paper focuses on the human-robot cooperation problem among the various fields of human-robot interaction. The human intention reading method using fuzzy cognitive map for the efficient human-robot cooperation is proposed ...

متن کامل

Robust Hybrid Motion Force Control Algorithm for Robot Manipulators

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

متن کامل

Visio-haptic control for Human-Humanoid Cooperative Carrying Tasks

Humanoid robotics focuses on the design of robots directly inspired by human capabilities. This design gives many advantages when working together with humans. Because of this, humanoids are ideal research platforms for physical Human-Robot Interaction (pHRI). The particular focus of this work is in the integration of visual servoing in pHRI, specifically in human-humanoid collaborative tasks. ...

متن کامل

Planning and Plan-execution for Human-Robot Cooperative Task achievement

Human Robot cooperation brings several challenges to autonomous robotics such as adoption of a pro-active behavior, situation analysis and goal generation, intention explanation and adaptation and choice of a correct behavior toward the human. In this paper, we describe a decisional architecture for human robot interaction which addresses some of these challenges. The description will be center...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C

سال: 2002

ISSN: 0387-5024,1884-8354

DOI: 10.1299/kikaic.68.483