Robotics: control, sensing, vision, and intelligence
Robotics: control, sensing, vision, and intelligence
Autonomous robotic disassembly in the blocks world
International Journal of Robotics Research
Force and touch feedback for virtual reality
Force and touch feedback for virtual reality
Human Factors in Ergonomics & Manufacturing
An exoskeletal robot for human elbow motion support-sensor fusion,adaptation, and control
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Adaptive impedance control for natural human-robot collaboration
Proceedings of the Workshop at SIGGRAPH Asia
Motion synchronization for human-robot collaboration
ICSR'12 Proceedings of the 4th international conference on Social Robotics
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In this paper, a physically interactive control scheme is developed for a manipulator robot arm. The human touches the robot and applies force in order to make it behave as he/she likes. The communication between the robot and the human is maintained by a physical contact with no sensors. The intent of the human is estimated by observing the change in control effort. The robot receives the estimated human intent and updates its position reference accordingly. The developed method uses the principle of conservation of zero momentum for position-controlled systems. A switching scheme is developed that goes between themodes of pure impedance control with a fixed-position reference and interactive control under human intent. The switching mechanism uses neither a physical switch nor a sensor; it observes the human intent and puts the robot into interactive mode, if there is any. When the human intent disappears, the robot goes into the pure-impedance-control mode, thus stabilizing in the left position.