Physical control of the rotation center of an unsupported object rope turning by a humanoid robot

Kim, Chyon Hae; Yonekura, Kenta; Tsujino, Hiroshi; Sugano, Shigeki

doi:10.1109/ichr.2009.5379585

Cited by 10 publications

(8 citation statements)

References 9 publications

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“…Existing approaches for cooperative suspended load manipulation either focus on oscillation damping [8], [9] or use one centralized controller [10]. In [11] and [12] a robot helps a human with sustaining a rope turning motion. However, the rope turning motion had to be established by the human partner beforehand.…”

Section: Introductionmentioning

confidence: 99%

Fundamental dynamics based adaptive energy control for cooperative swinging of complex pendulum-like objects

Donner

Christange

Buss

2015

2015 54th IEEE Conference on Decision and Control (CDC)

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Abstract-We present an adaptive energy-based controller for cooperative swinging of complex pendulum-like objects by two agents. The complex pendulum-like object has two oscillation degrees of freedom of which one is to be controlled to a goal energy and the other one has to be damped. The closed-loop fundamental dynamics of a simple pendulum are extended to the two-agent pendulum. Based on the fundamental dynamics, a simple adaptive mechanism identifies the natural frequency of the system. An amplitude factor is adapted such that an agent behaves as a leader or a follower. A leader knows the goal energy and controls the system according to desired reference dynamics. A follower either imitates the leader's energy flow or estimates the leader's goal energy. Properties as stability of both leader-follower structures are analyzed analytically based on the fundamental dynamics assumption. The applicability of the control approaches to a complex pendulum-like object is shown in simulation.

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Section: Introductionmentioning

confidence: 99%

Fundamental dynamics based adaptive energy control for cooperative swinging of complex pendulum-like objects

Donner

Christange

Buss

2015

2015 54th IEEE Conference on Decision and Control (CDC)

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“…In [8] a three degrees-of-freedom parallel cable-driven robot, similar to the underactuated mechanism presented in this paper, is excited to reach a number of target points in a large workspace. In the area of pHRI, rope turning tasks have been investigated [9], [10]. While these works achieve continuous turning, even in the more recent work [9], the human still needs to take over the swing-up phase until a stable rope turning motion can be achieved by the robot.…”

Section: Introductionmentioning

confidence: 99%

“…In the area of pHRI, rope turning tasks have been investigated [9], [10]. While these works achieve continuous turning, even in the more recent work [9], the human still needs to take over the swing-up phase until a stable rope turning motion can be achieved by the robot. As during cooperative load transport, information as well as energy is transferred through the mutual physical coupling to the object, which poses an additional challenge [3].…”

Section: Introductionmentioning

confidence: 99%

Human-robot cooperative object swinging

Donner

Mörtl

Hirche

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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Abstract-This paper investigates goal-directed cooperative object swinging as a novel physical human-robot interaction scenario. We develop an energy-based control concept, which enables a robot to cooperate with a human in a goal-directed swing-up task. The robot can be assigned to be a leader or an actively contributing follower. We conduct a virtual reality experiment to compare effort sharing and performance of mixed human-human and human-robot dyads. The leader and the follower controllers yield similar results compared to their human standard.

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“…The energies injected into the t-pendulum by the robot leader V L and the robot follower V F add up to the total energy contained in the system V , an energy loss due to damping and the initial system energy. The energy contained in the θ-oscillation V θ is calculated according to (6). Figure 5(b) shows the angles θ and ψ in relation to the desired maximum deflection angle θ d V over time.…”

Section: B Simulation Experiments and Measuresmentioning

confidence: 99%

“…To the best of the authors knowledge, the only works including swing-motion and physical interaction of a robot and a human have been on rope turning [6], [7]. Both papers limit their focus on sustaining a rope turning motion that was established by the human partner beforehand.…”

Section: Introductionmentioning

confidence: 99%

Human-robot cooperative swinging of complex pendulum-like objects

Donner¹,

Christange²,

Buss³

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper investigates human-robot cooperative swinging of a complex pendulum-like object. The complexity of the object results in two possible swinging modes. The goal is to excite one mode such that a desired energy level of the pendulum is reached while simultaneously damping the other mode. The energy based control concept relies on the projection of the complex mechanism onto an abstract simple pendulum with two-sided actuation. An actively contributing robot leader and robot follower are implemented. The controller performance is analyzed through simulations. A virtual reality experiment shows the transferability of the control approach to a human interaction partner.

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Physical control of the rotation center of an unsupported object rope turning by a humanoid robot

Cited by 10 publications

References 9 publications

Fundamental dynamics based adaptive energy control for cooperative swinging of complex pendulum-like objects

Fundamental dynamics based adaptive energy control for cooperative swinging of complex pendulum-like objects

Human-robot cooperative object swinging

Human-robot cooperative swinging of complex pendulum-like objects

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