Physical human-robot interactions (pHRIs) can improve robot autonomy and reduce physical demands on humans. In this paper, we consider a collaborative task with a considerably long object and no prior knowledge of the object's parameters. An integrated control framework with an online object parameter estimator and a Cartesian object-aware impedance controller is proposed to realize complicated scenarios. During the transportation task, the object parameters are estimated online while a robot and human lift an object. The perturbation motion is incorporated into the null space of the desired trajectory to enhance the estimator accuracy. An object-aware impedance controller is designed using the real-time estimation results to effectively tr...
The emergence of collaborative robotics has had a great impact on the development of robotic solutio...
One of the hallmarks of physical interaction between humans is haptic communication, i.e. an informa...
Since the very beginning of industrial robotics, safety has been a fundamental point and robots have...
International audienceThis paper addresses the problem of heavy load co-manipulation in the context ...
This article proposes a Bayesian method to acquire the estimation of human impedance and motion inte...
In this paper, adaptive impedance control is proposed for a robot collaborating with a human partner...
In human-robot collaborative transportation and sawing tasks, the human operator physically interact...
As the frequency and complexity of physical human-robot interaction (pHRI) increases, so does the ne...
Future service robots will enter the every day life of humans in both domestic and professional doma...
This article presents a state-of-the-art survey on the robotic systems, sensors, actuators, and coll...
In this paper, an impedance control strategy is proposed for a rigid robot collaborating with human ...
In Physical Human-Robot Interaction (PHRI), humans and robots share the workspace and physically int...
© 2013 IEEE. In this paper, we propose a novel strategy for human-robot impedance mapping to realize...
International audienceThe estimation of the human endpoint impedance interacting with a physical env...
In this paper, the impedance control paradigm is used to design control algorithms for safe human-ro...
The emergence of collaborative robotics has had a great impact on the development of robotic solutio...
One of the hallmarks of physical interaction between humans is haptic communication, i.e. an informa...
Since the very beginning of industrial robotics, safety has been a fundamental point and robots have...
International audienceThis paper addresses the problem of heavy load co-manipulation in the context ...
This article proposes a Bayesian method to acquire the estimation of human impedance and motion inte...
In this paper, adaptive impedance control is proposed for a robot collaborating with a human partner...
In human-robot collaborative transportation and sawing tasks, the human operator physically interact...
As the frequency and complexity of physical human-robot interaction (pHRI) increases, so does the ne...
Future service robots will enter the every day life of humans in both domestic and professional doma...
This article presents a state-of-the-art survey on the robotic systems, sensors, actuators, and coll...
In this paper, an impedance control strategy is proposed for a rigid robot collaborating with human ...
In Physical Human-Robot Interaction (PHRI), humans and robots share the workspace and physically int...
© 2013 IEEE. In this paper, we propose a novel strategy for human-robot impedance mapping to realize...
International audienceThe estimation of the human endpoint impedance interacting with a physical env...
In this paper, the impedance control paradigm is used to design control algorithms for safe human-ro...
The emergence of collaborative robotics has had a great impact on the development of robotic solutio...
One of the hallmarks of physical interaction between humans is haptic communication, i.e. an informa...
Since the very beginning of industrial robotics, safety has been a fundamental point and robots have...
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