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Reducing the human effort for human-robot cooperative object manipulation via control design
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0001-5129-342X
2017 (English)In: IFAC PAPERSONLINE, ELSEVIER SCIENCE BV , 2017, Vol. 50, no 1, p. 14922-14927Conference paper, Published paper (Refereed)
Abstract [en]

This study is concerned with the shared object manipulation problem in a physical Human-Robot Interaction (pHRI) setting. In such setups, the operator manipulates the object with the help of a robot. In this paper, the operator is assigned with the lead role, and the robot is passively following the forces/torques exerted by the operator. We propose a controller that is free from the well-known translation/rotation problem and enhances the operator's ability to move the object by reducing the human effort. The key point in our study is that the controller is defined based on the instantaneous center of rotation. The passivity of the system including the object and the manipulator has been evaluated. Simulation results validate the theoretical findings on different scenarios of subsequent rotations and translations of the object.

Place, publisher, year, edition, pages
ELSEVIER SCIENCE BV , 2017. Vol. 50, no 1, p. 14922-14927
Keywords [en]
Modeling, Autonomous robotic systems, Work in real and virtual environments, Human operator support
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-224092DOI: 10.1016/j.ifacol.2017.08.2540ISI: 000423965400008OAI: oai:DiVA.org:kth-224092DiVA, id: diva2:1190345
Conference
20th World Congress of the International-Federation-of-Automatic-Control (IFAC), JUL 09-14, 2017, Toulouse, FRANCE
Note

QC 20180314

Available from: 2018-03-14 Created: 2018-03-14 Last updated: 2018-03-14Bibliographically approved

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Karayiannidis, Yiannis

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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