| Autor: |
Sidiropoulos, Antonis, Karayiannidis, Yiannis, Doulgeri, Zoe |
| Rok vydání: |
2021 |
| Předmět: |
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| Zdroj: |
2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 3758-3764 |
| Druh dokumentu: |
Working Paper |
| DOI: |
10.1109/ICRA48506.2021.9562035 |
| Popis: |
In this work, the problem of human-robot collaborative object transfer to unknown target poses is addressed. The desired pattern of the end-effector pose trajectory to a known target pose is encoded using DMPs (Dynamic Movement Primitives). During transportation of the object to new unknown targets, a DMP-based reference model and an EKF (Extended Kalman Filter) for estimating the target pose and time duration of the human's intended motion is proposed. A stability analysis of the overall scheme is provided. Experiments using a Kuka LWR4+ robot equipped with an ATI sensor at its end-effector validate its efficacy with respect to the required human effort and compare it with an admittance control scheme. |
| Databáze: |
arXiv |
| Externí odkaz: |
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