An autonomous mobile manipulator for assembly tasks
Autonomous Robots
Safe, stable and intuitive control for physical human-robot interaction
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Presence: Teleoperators and Virtual Environments
Adaptive impedance control to enhance human skill on a haptic interface system
Journal of Control Science and Engineering - Special issue on Adaptive Control Theory and Applications
Evaluating the effects of limited perception on interactive decisions in mixed robotic domains
Proceedings of the 8th ACM/IEEE international conference on Human-robot interaction
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In the future, robots will have to assist human beings in the performance of several tasks. In order to achieve this goal, robots have to be able to follow human movement in a way that is transparent to the human operator. This paper presents a new method to make this cooperation more transparent. The method is based on an online variable impedance control using differentiation of the force as a natural sensor of human intention. This work will also demonstrate why velocity control should be used in the controller of a human-friendly robot rather than typical position control.The performance of the control scheme introduced here is also validated in an experimental cooperative drawing task involving a parallel manipulator and a human operator.