Design Concepts for Physical Human-Robot Cooperation
نویسندگان
چکیده
Robots capable of providing physical assistance to a human partner face a wide area of application scenarios ranging from manufacturing assistance, physical rehabilitation to mobility aids for the elderly. Yet, the physical nature of the coupling present in cooperative manipulation tasks and the uncertain contribution of the human partner make physical robotic assistance a challenging topic of research. In this work, we present our current lines of research addressing the topics of learning, planning and control in the context of physical human-robot interaction. Valuable insights from human-robot experimental studies conducted in rapid prototyping environments are reported as well.
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