Name
Title | ||
|---|---|---|
A variable admittance controller for human-robot manipulation of large inertia objects |
Abstract | ||
|---|---|---|
In this work, the problem of cooperative human-robot manipulation of an object with large inertia is addressed, considering the availability of a kinematically controlled industrial robot. In particular, a variable admittance control scheme is proposed, where the damping is adjusted based on the power transmitted from the human to the robot, with the aim of minimizing the energy injected by the hu... |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/RO-MAN50785.2021.9515392 | 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) |
Keywords | DocType | ISSN |
Damping,Service robots,Minimization,Admittance,Task analysis,Oscillators | Conference | 1944-9445 |
ISBN | Citations | PageRank |
978-1-6654-0492-1 | 0 | 0.34 |
References | Authors | |
0 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Antonis Sidiropoulos | 1 | 0 | 1.01 |
| Theodora Kastritsi | 2 | 1 | 1.36 |
| Dimitrios Papageorgiou | 3 | 0 | 0.34 |
| Zoe Doulgeri | 4 | 332 | 47.11 |