Human-inspired robot assistant for fast point-to-point movements

A first step towards truly versatile robot assistants consists of building up experience with simple tasks such as the cooperative manipulation of objects. This paper extends the state-of-the-art by developing an assistant which actively cooperates during the point-to-point transportation of an obje...

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Bibliographic Details
Published inProceedings 2007 IEEE International Conference on Robotics and Automation pp. 3639 - 3644
Main Authors Corteville, B., Aertbelien, E., Bruyninckx, H., De Schutter, J., Van Brussel, H.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.04.2007
Subjects
Admittance
Control systems
Damping
Force control
Force feedback
Humans
Motion control
Robot control
Robotics and automation
Transportation
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ISBN1424406013
9781424406012
ISSN1050-4729
DOI10.1109/ROBOT.2007.364036

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Summary:A first step towards truly versatile robot assistants consists of building up experience with simple tasks such as the cooperative manipulation of objects. This paper extends the state-of-the-art by developing an assistant which actively cooperates during the point-to-point transportation of an object. Besides using admittance control to react to interaction forces generated by its operator, the robot estimates the intended human motion and uses this identified motion to move along with the operator. The offered level of assistance can be scaled, which is vital to give the operator the opportunity to gradually learn how to interact with the system. Experiments revealed that, while the robot is programmed to adapt to the human motion, the operator also adapts to the offered assistance. When using the robot assistant the required forces to move the load are greatly reduced and the operators report that the assistance feels comfortable and natural.
ISBN:1424406013
9781424406012
ISSN:1050-4729
DOI:10.1109/ROBOT.2007.364036