Control of a mobile haptic interface

Unterhinninghofen, Ulrich; Schauss, Thomas; Buss, Martin

doi:10.1109/robot.2008.4543514

Cited by 16 publications

(8 citation statements)

References 7 publications

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“…u 2,φ = 0) yields the robot's applied wrenchũ 2 . In order to make use of the extended workspace of a mobile robot composed by a manipulator-base system, the admittance control law is calculated in the inertial frame similar to Unterhinninghofen et al (2008). The control scheme depicted in Fig.…”

Section: Admittance-type Force Controlmentioning

confidence: 99%

The role of roles: Physical cooperation between humans and robots

Mörtl

Lawitzky

Küçükyılmaz

et al. 2012

The International Journal of Robotics Research

254

176

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Since strict separation of working spaces of humans and robots experiences a softening due to recent robotics research achievements, close interaction of humans and robots comes rapidly into reach. In this context, physical human-robot interaction raises a number of questions regarding a desired intuitive robot behavior. The continuous bilateral information and energy exchange requires an appropriate continuous robot feedback. Investigating a cooperative manipulation task, the desired behavior is a combination of an urge to fulfill the task, a smooth instant reactive behavior to human force inputs and an assignment of the task effort to the cooperating agents. In this paper, a formal analysis of human-robot cooperative load transport is presented. Three different possibilities for the assignment of task effort are proposed. Two proposed dynamic role exchange mechanisms adjust the robot's urge to complete the task based on the human feedback. For comparison, a static role allocation strategy not relying on the human agreement feedback is proposed as well. All three role allocation mechanisms are evaluated in a user study that involves large-scale kinesthetic interaction and full-body human motion. Results show tradeoffs between subjective and objective performance measures stating a clear objective advantage of the proposed dynamic role allocation scheme.

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Section: Admittance-type Force Controlmentioning

confidence: 99%

The role of roles: Physical cooperation between humans and robots

Mörtl

Lawitzky

Küçükyılmaz

et al. 2012

The International Journal of Robotics Research

254

176

View full text Add to dashboard Cite

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“…6. Similar to [13], the admittance control law is calculated in inertial coordinates so that repositioning of the mobile base does not affect the end-effector position. The actual endeffector pose R x m is used to derive a velocity command…”

Section: Manipulator-base Coordinationmentioning

confidence: 99%

An experience-driven robotic assistant acquiring human knowledge to improve haptic cooperation

Medina

Lawitzky

Mörtl

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Physical cooperation with humans greatly enhances the capabilities of robotic systems when leaving standardized industrial settings. Our novel cognition-enabled control framework presented in this paper enables a robotic assistant to enrich its own experience by acquisition of human task knowledge during joint manipulation. Our robot incrementally learns semantic task structures during joint task execution using hierarchically clustered Hidden Markov Models. A semantic labeling of recognized task segments is acquired from the human partner through speech. After a small number of repetitions, the robot uses an anticipated task progress to generate a feed-forward set point for an admittance feedback control scheme. This paper describes the framework and its implementation on a mobile bi-manual platform. The evolution of the robot's task knowledge is presented and discussed. Finally, the cooperation quality is measured in terms of the robot's task contribution.

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“…In [9], the position of the mobile base is calculated by maximizing a manipulability measure. [12] and [13] include the human arm workspace in the position optimization strategy. This strategy offers advantages when the operator performs fast motions using the full workspace of his arm.…”

Section: B State Of the Artmentioning

confidence: 99%

Motion control of a semi-mobile haptic interface for extended range telepresence

Arias¹,

Hanebeck²

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents the control concept of a semimobile haptic interface for extended range telepresence that enables the user to explore spatially unrestricted target environments even from a small user environment. The semi-mobile haptic interface consists of a haptic manipulator mounted on a large grounded Cartesian robot, the prepositioning unit. The prepositioning unit is controlled in such a way that the haptic manipulator is kept off its workspace limits. At the same time, the control algorithm allows the optimal utilization of the available space in the user environment and guarantees the safety of the user. The proposed control method is based on the position and velocity of the end-effector and also takes the position of the user into account. Moreover, it is robust against noisy measurements of the user position or outliers due, for example, to occlusions in the tracking system. Experimental results show the suitability of the proposed control to provide haptic interaction in extended range telepresence.

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Control of a mobile haptic interface

Cited by 16 publications

References 7 publications

The role of roles: Physical cooperation between humans and robots

The role of roles: Physical cooperation between humans and robots

An experience-driven robotic assistant acquiring human knowledge to improve haptic cooperation

Motion control of a semi-mobile haptic interface for extended range telepresence

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