Online Kinematics Estimation for Active Human-Robot Manipulation of Jointly Held Objects
2013 (English)In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE , 2013, 4872-4878 p.Conference paper (Refereed)
This paper introduces a method for estimating the constraints imposed by a human agent on a jointly manipulated object. These estimates can be used to infer knowledge of where the human is grasping an object, enabling the robot to plan trajectories for manipulating the object while subject to the constraints. We describe the method in detail, motivate its validity theoretically, and demonstrate its use in co-manipulation tasks with a real robot.
Place, publisher, year, edition, pages
IEEE , 2013. 4872-4878 p.
, IEEE International Conference on Intelligent Robots and Systems. Proceedings, ISSN 2153-0858
Human agent, Manipulated objects, Real robot
IdentifiersURN: urn:nbn:se:kth:diva-124599DOI: 10.1109/IROS.2013.6697059ISI: 000331367404140ScopusID: 2-s2.0-84893782649ISBN: 978-146736358-7OAI: oai:DiVA.org:kth-124599DiVA: diva2:637295
2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013; Tokyo; Japan; 3 November 2013 through 8 November 2013
FunderEU, FP7, Seventh Framework ProgrammeSwedish Research CouncilSwedish Foundation for Strategic Research
QC 201403202013-07-172013-07-172015-12-16Bibliographically approved