Cartesian Inertia Optimization via Redundancy Resolution for Physical Human-Robot Interaction
| Autor: | Marc G. Carmichael, Jon Woolfrey, Sheila Sutjipto, Gavin Paul |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Computer science
media_common.quotation_subject Control reconfiguration Degrees of freedom (mechanics) Inertia Human–robot interaction Task (project management) law.invention Computer Science::Robotics Control theory law Redundancy (engineering) Cartesian coordinate system Computer-aided software engineering media_common |
| Zdroj: | CASE |
| DOI: | 10.1109/case49439.2021.9551663 |
| Popis: | The objective of introducing robotic manipulators into human-centric domains is to improve the efficacy of tasks in a safe and practical manner. The shift toward collaborative manipulator platforms has facilitated physical human-robot interaction (pHRI) in such environments. Often, these platforms are kinematically redundant and possess more degrees of freedom (DOF) than needed to complete a desired task. When no additional task is defined, it is possible for the manipulator to converge upon joint configurations that are unfavourable for the collaborative task. Consequently, there is potential for the posture of the manipulator to affect the interaction experienced. This paper investigates an inertia-based optimization control method for redundant manipulators interacting with an active agent. The inertia-based reconfiguration is evaluated through simulations and quantified with real-life experiments conducted with a robot-robot dyad. It was found that resolving redundancy to reconfigure the Cartesian inertia reduced the energy expenditure of the active agent during the interaction. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|