Transferring model-free objects between human hand and robot hand using vision/force control

Bdiwi, Mohamad; Kolker, Alexey; Suchy, Jozef

doi:10.1109/ssd.2014.6808785

Cited by 3 publications

(2 citation statements)

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“…Controller-based approaches calculate the desired robot motion at each controller time instant throughout the execution to ensure a reactive robot behavior. This is typically achieved using a goal-directed controller that always drives the robot to the estimated location of the tracked object, either with pure feedback such as visual servoing [3,13] or with a dynamical system approach [17,12]. The latter combines goal feedback with feed-forward terms that shape the trajectory according to a human model.…”

Section: Motion Planning and Control Of Human-robot Handoversmentioning

confidence: 99%

“…These task functions define different behaviors and sensor-based reactions such as trajectory following, obstacle avoidance and physical interaction control. Because combining these task functions might result in conflicting joint velocities, a slack variable i is added to each control law (3). The values are a measure of the deviation to the ideal first-order system behavior of each control law.…”

Section: Principle Of Constraint-based Programming In Etaslmentioning

confidence: 99%

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Specification and Control of Human-Robot Handovers Using Constraint-Based Programming

Vochten

Vanroye

Lambeau

et al. 2022

Human-Friendly Robotics 2021

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This paper introduces a constraint-based specification of an object handover in order to simplify the implementation of reactive handover controllers. A number of desired robot behaviors are identified in different phases of the handover and specified as constraints. The degreesof-freedom in the reaching motion towards the tracked object, such as rotational symmetry in the object, are easily expressed with constraints and used by the controller. During the physical transfer, a desired force interaction and compliance can be specified. Deviations from the nominal behavior are also dealt with, such as breaking of the handover intent, a moving object and disturbance forces. The controller is validated on a real robot setup showcasing a bidirectional handover. Thanks to the modular approach of combining constraints the developed task specification can be easily extended with more reactive behaviors in the future.

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Section: Motion Planning and Control Of Human-robot Handoversmentioning

confidence: 99%

Section: Principle Of Constraint-based Programming In Etaslmentioning

confidence: 99%