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Online Kinematics Estimation for Active Human-Robot Manipulation of Jointly Held Objects
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-5129-342X
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2078-8854
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-3653-4691
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
2013 (English)In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE , 2013, 4872-4878 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Series
IEEE International Conference on Intelligent Robots and Systems. Proceedings, ISSN 2153-0858
Keyword [en]
Human agent, Manipulated objects, Real robot
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-124599DOI: 10.1109/IROS.2013.6697059ISI: 000331367404140Scopus ID: 2-s2.0-84893782649ISBN: 978-146736358-7 (print)OAI: oai:DiVA.org:kth-124599DiVA: diva2:637295
Conference
2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013; Tokyo; Japan; 3 November 2013 through 8 November 2013
Funder
EU, FP7, Seventh Framework ProgrammeSwedish Research CouncilSwedish Foundation for Strategic Research
Note

QC 20140320

Available from: 2013-07-17 Created: 2013-07-17 Last updated: 2015-12-16Bibliographically approved

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iros2013karayiannidis(967 kB)47 downloads
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Karayiannidis, YiannisSmith, ChristianVina, FranciscoKragic, Danica

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