Paper Info
Title
A robot hand-over control scheme for human-like haptic interaction
Abstract
A robot hand-over control scheme is proposed achieving human-like haptic interaction during object load transfer from a giver to a receiver hand for the planar case. It is assumed that the object has parallel surfaces and unknown mass. The giver initiates the hand-over process while the receiver estimates the transferred object mass adapting its grip force accordingly in a three stage process. The control laws are based on a dynamically stable grasp controller which is modified for the hand-over task. A stable load transfer is securely achieved as shown by the theoretical analysis and illustrated by the simulation results.
Year
DOI
Venue
2014
10.1109/MED.2014.6961583
Control and Automation
Keywords
Field
DocType
dexterous manipulators,force control,haptic interfaces,stability,dynamically stable grasp controller,grip force,human-like haptic interaction,object load transfer,object mass,robot hand-over control scheme,force,robots,vectors
Robot control,Robot hand,Haptic interaction,Control theory,GRASP,Computer science,Control theory,Control engineering,Planar,Robot,Grip force
Conference
ISSN
Citations 
PageRank 
2325-369X
1
0.36
References 
Authors
2
2
Name
Order
Citations
PageRank
Psomopoulou, E.1141.26
Z. Doulgeri21048.96