Back to Search
Start Over
Physical Human–Robot Cooperation Based on Robust Motion Intention Estimation
Physical Human–Robot Cooperation Based on Robust Motion Intention Estimation
- Source :
- Robotica. 38:1842-1866
- Publication Year :
- 2020
- Publisher :
- Cambridge University Press (CUP), 2020.
-
Abstract
- SUMMARYCooperative transportation by human and robotic coworkers constitutes a challenging research field that could lead to promising technological achievements. Toward this direction, the present work demonstrates that, under a leader–follower architecture, where the human determines the object’s desired trajectory, complex cooperative object manipulation with minimal human effort may be achieved. More specifically, the robot estimates the object’s desired motion via a prescribed performance estimation law that drives the estimation error to an arbitrarily small residual set. Subsequently, the motion intention estimation is utilized in the object dynamics to determine the interaction force between the human and the object. Human effort reduction is then achieved via an impedance control scheme that employs the aforementioned estimations. The feedback relies exclusively on the robot’s force/torque, position as well as velocity measurements at its end effector, without incorporating any other information on the task. Moreover, an adaptive control scheme is adopted to relax the need for exact knowledge of the object dynamics. Finally, an extension for multiple robotic coworkers is studied and verified via simulation, while extensive experimental results for the single robot case clarify the proposed method and corroborate its efficiency.
- Subjects :
- 0209 industrial biotechnology
Adaptive control
Computer science
General Mathematics
02 engineering and technology
Robot end effector
Object (computer science)
Human–robot interaction
Computer Science Applications
law.invention
020901 industrial engineering & automation
Impedance control
Control and Systems Engineering
law
Control theory
0202 electrical engineering, electronic engineering, information engineering
Trajectory
Torque
Robot
020201 artificial intelligence & image processing
Software
Subjects
Details
- ISSN :
- 14698668 and 02635747
- Volume :
- 38
- Database :
- OpenAIRE
- Journal :
- Robotica
- Accession number :
- edsair.doi...........b4916705de7be17eaa10b07c41030189
- Full Text :
- https://doi.org/10.1017/s0263574720000958