Paper Info
Title
Task-Based Variation of Active Compliance of Arm/Hand Robots in Physical Human Robot Interactions.
Abstract
In this work a control strategy combining admittance control with haptic cues is proposed for varying robot arm-hand target impedances in tasks involving physical Human Robot Interaction (pHRI). External force and robot state measurements are employed to initiate task phase transitions which further involve switching to appropriate target impedances. Three tasks typical for domestic robot assistance are demonstrated experimentally showing safe and natural interactions.
Year
DOI
Venue
2015
10.1007/978-3-319-22416-9_28
Lecture Notes in Artificial Intelligence
Field
DocType
Volume
Robot control,Simulation,Computer science,Domestic robot,Impedance control,Robot,Admittance,Haptic technology,Human–robot interaction,Mobile robot
Conference
9287
ISSN
Citations 
PageRank 
0302-9743
0
0.34
References 
Authors
4
3
Name
Order
Citations
PageRank
Iason Sarantopoulos132.49
Dimitrios G. Papageorgiou2316.93
Zoe Doulgeri333247.11