Adaptive Behavior Of An Electromechanical Arm Robot In a Case Of Physical Interaction With a Human Being
| Autor: | Sébastien Razakarivony, Philippe Gaussier, Patrick Henaff, V. Ph. Borisenko, Artem Melnyk |
|---|---|
| Přispěvatelé: | Equipes Traitement de l'Information et Systèmes (ETIS - UMR 8051), Ecole Nationale Supérieure de l'Electronique et de ses Applications (ENSEA)-Centre National de la Recherche Scientifique (CNRS)-CY Cergy Paris Université (CY), National Technical University of Donetsk (DONTU), French Embassy in Ukraine |
| Jazyk: | angličtina |
| Rok vydání: | 2011 |
| Předmět: |
0209 industrial biotechnology
Engineering Service robots 02 engineering and technology Human–robot interaction [SPI.AUTO]Engineering Sciences [physics]/Automatic 020901 industrial engineering & automation Mathematical model Control theory 0202 electrical engineering electronic engineering information engineering Humans [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Manipulator Adaptation (computer science) Force Adaptive behavior Electrical drive business.industry 020208 electrical & electronic engineering Control engineering Physical interaction Human being Manipulators Robot Joints business |
| Zdroj: | IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2011) IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2011), Jul 2011, Budapest, Hungary. pp.689-694, ⟨10.1109/AIM.2011.6027148⟩ |
| DOI: | 10.1109/AIM.2011.6027148⟩ |
| Popis: | International audience; The aim of this paper is to consider the adaptation behavior of an electromechanical arm manipulator to the physical interaction of humans. Preliminary experiments to explore the possibility of adaptive interactions between an arm robot and a human without knowledge of the forces are investigated. A simple and efficient control adaptation of the system is implemented at the level of the electrical drive. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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