Name
Abstract | ||
|---|---|---|
This work proposes a kinematic control method for human-robot handshake motions achieving fast motion synchronization given a preset internal robot handshake motion and a compliance level that reflects the robot's level of passiveness. The proposed method combines a non-linear dynamic system having an attractive limit cycle with an admittance controller and an adaptation mechanism so that interaction forces are minimized and a consensus oscillation is achieved between the engaging participants. The proposed method is validated by experimenting with a KUKA LWR4+ 7dof arm under various scenarios. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/ICRA.2015.7139986 | IEEE International Conference on Robotics and Automation |
Keywords | Field | DocType |
end effectors,force control,human-robot interaction,manipulator kinematics,motion control,nonlinear dynamical systems,KUKA LWR4+ 7dof arm,adaptation mechanism,admittance controller,attractive limit cycle,consensus oscillation,fast motion synchronization,human-robot handshaking,interaction force minimization,internal motion adaptation,internal robot handshake motion,kinematic controller,nonlinear dynamic system,passiveness level | Control theory,Synchronization,Kinematics,Handshake,Simulation,Control theory,Limit cycle,Control engineering,Handshaking,Engineering,Robot,Human–robot interaction | Conference |
ISSN | Citations | PageRank |
1050-4729 | 3 | 0.37 |
References | Authors | |
12 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dimitrios G. Papageorgiou | 1 | 31 | 6.93 |
| Zoe Doulgeri | 2 | 332 | 47.11 |