Force-Sensorless and Bimanual Human-Robot Comanipulation Implementation using iTaSC

Force-Sensorless and Bimanual Human-Robot Comanipulation

This paper demonstrates the iTaSC approach to a force-sensorless and bimanual human-robot comanipulation task on a tree-structured robot, comprising (i) co-manipulation of an object with a person, (ii) dynamic and static obstacle avoidance with its base, (iii) maintaining visual contact with the operator, and (iv) unnatural pose prevention. The task is implemented in a structured way in a reusa...

Interface Design for Physical Human-Robot Interaction using Sensorless Force Control Method

Sensorless Torque/Force Control

Motion control systems represent a main subsystem for majority of processing systems that can be found in the industrial sector. These systems are concerned with the actuation of all devices in the manufacturing process such as machines, robots, conveyor systems and pick and place mechanisms such that they satisfy certain motion requirements, e.g., the pre specified reference trajectories are f...

Human-Robot Interaction Control Using Force and Vision

Physical human-robot interaction (pHRI) is an interesting topic for small-scale industrial robotics, where a user may need to share the workspace with a robot, as well as for service robotics. In the elderly-dominated scenario of most industrialized countries, service robotics is a solution for automatizing common daily tasks, also due to the lack or high cost of human expertise. The size of an...

Design and Implementation of a Robot Force and Motion Server

A robot manipulator is a force and motion server for a robot. The robot, interpreting sensor information in terms of a world model and a task plan, issues instructions to the manipulator to carry out tasks. The control of a manipulator first involves motion trajectory generation needed when the manipulator is instructed to move to desired positions. The procedure of generating the trajectory mu...