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Mapping Human Intentions to Robot Motions via Physical Interaction Through a Jointly-held Object
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: 0000-0003-2965-2953
2014 (English)In: Robot and Human Interactive Communication, 2014 RO-MAN: The 23rd IEEE International Symposium on, 2014, 391-397 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we consider the problem of human-robot collaborative manipulation of an object, where the human is active in controlling the motion, and the robot is passively following the human's lead. Assuming that the human grasp of the object only allows for transfer of forces and not torques, there is a disambiguity as to whether the human desires translation or rotation. In this paper, we analyze different approaches to this problem both theoretically and in experiment. This leads to the proposal of a control methodology that uses switching between two different admittance control modes based on the magnitude of measured force to achieve disambiguation of the rotation/translation problem.

Place, publisher, year, edition, pages
2014. 391-397 p.
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-157926DOI: 10.1109/ROMAN.2014.6926284ISBN: 978-1-4799-6763-6 (print)OAI: oai:DiVA.org:kth-157926DiVA: diva2:772947
Conference
23rd IEEE International Symposium on Robot and Human Interactive Communication; Edinburgh, UK,25-29 Aug. 2014
Funder
Swedish Research CouncilEU, FP7, Seventh Framework Programme
Note

QC 20150310

Available from: 2014-12-17 Created: 2014-12-17 Last updated: 2015-10-15Bibliographically approved

Open Access in DiVA

Roman2014Karayiannidis(4000 kB)49 downloads
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feeb9fde69a1991e5f3d15be9c0b0f2c170af1ed81b09927417f54e38bf8e38ea96fe66963cd77ffa07dbc7448186e1983d108164c7752ef7abe1906e213fc2a
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Karayiannidis, YiannisSmith, ChristianKragic, Danica

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