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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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
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creator Donner, Philine
Mortl, Alexander
Hirche, Sandra
Buss, Martin
description 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.
doi_str_mv 10.1109/ICRA.2013.6631192
format conference_proceeding
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source IEEE Electronic Library (IEL) Conference Proceedings
subjects Energy states
Haptic interfaces
Robots
Solid modeling
Trajectory
Virtual reality
Visualization
title Human-robot cooperative object swinging
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