Human-robot cooperative object swinging

This paper investigates goal-directed cooperative object swinging as a novel physical human-robot interaction scenario. We develop an energy-based control concept, which enables a robot to cooperate with a human in a goal-directed swing-up task. The robot can be assigned to be a leader or an activel...

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Bibliographic Details
Main Authors: Donner, Philine, Mortl, Alexander, Hirche, Sandra, Buss, Martin
Format: Conference Proceeding
Language:English
Subjects:
Energy states
Haptic interfaces
Robots
Solid modeling
Trajectory
Virtual reality
Visualization
Online Access:Request full text
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Summary:This paper investigates goal-directed cooperative object swinging as a novel physical human-robot interaction scenario. We develop an energy-based control concept, which enables a robot to cooperate with a human in a goal-directed swing-up task. The robot can be assigned to be a leader or an actively contributing follower. We conduct a virtual reality experiment to compare effort sharing and performance of mixed human-human and human-robot dyads. The leader and the follower controllers yield similar results compared to their human standard.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2013.6631192