Online Kinematics Estimation for Active Human-Robot Manipulation of Jointly Held Objects
- Karayiannidis, Yiannis
- Smith, Christian
- Vina, Francisco
- Kragic, Danica
Publication date
January 2013
DOI Publisher
Institute of Electrical and Electronics Engineers (IEEE)Abstract
This paper introduces a method for estimating the constraints imposed by a human agent on a jointly manipulated object. These estimates can be used to infer knowledge of where the human is grasping an object, enabling the robot to plan trajectories for manipulating the object while subject to the constraints. We describe the method in detail, motivate its validity theoretically, and demonstrate its use in co-manipulation tasks with a real robot.QC 20140320</p
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