Paper Info
Title
Human Robot Collaboration for Folding Fabrics Based on Force/RGB-D Feedback.
Abstract
In this paper, the human-robot collaboration for executing complicated handling tasks for folding non-rigid objects is investigated. A hierarchical control system is developed for the co-manipulation task of folding sheets like fabrics/cloths. The system is based on force and RGB-D feedback in both higher and lower control levels of the process. In the higher level, the perception of the human's intention is used for deciding the robot's action; in the lower level the robot reacts to the force/RGB-D feedback to follow human guidance. The proposed approach is tested in folding a rectangular piece of fabric. Experiments showed that the developed robotic system is able to track the human's movement in order to help her/him to accomplish the folding co-manipulation task.
Year
DOI
Venue
2015
10.1007/978-3-319-21290-6_24
ADVANCES IN ROBOT DESIGN AND INTELLIGENT CONTROL
Keywords
DocType
Volume
Human robot collaboration,Folding,Cloths,Force/RGB-D control,Human intention,Co-manipulation
Conference
371
ISSN
Citations 
PageRank 
2194-5357
2
0.41
References 
Authors
4
4
Name
Order
Citations
PageRank
Panagiotis N. Koustoumpardis1165.97
Konstantinos I. Chatzilygeroudis220.41
Aris I. Synodinos320.74
Nikos A. Aspragathos424337.69