Overcoming Human Force Amplification Limitations in Comanipulation Tasks with Industrial Robot

被引：4

作者：

Lamy, Xavier ^{[1
]}

Colledani, Frederic ^{[1
]}

Geffard, Franck ^{[1
]}

Measson, Yvan ^{[1
]}

Morel, Guillaume ^{[2
]}

机构：

[1] CEA, LIST, Interact Robot Lab, F-92265 Fontenay Aux Roses, France

[2] Univ Paris 06, Inst Syst Intelligents & Robot, F-75005 Paris, France

来源：

2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2010年

关键词：

Force Augmentation; Impedance Control; Comanipulation; physical Human-Robot Interaction;

D O I：

10.1109/WCICA.2010.5553839

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Comanipulation (i.e. a man and a robot sharing the same task) is an emerging robotics field. Despite interesting preliminary results, there is still a number of issues to be fixed for efficient implementation of cobotics, for example in the force amplification case. We will show how to solve problems like apparent inertia limitation, passivity constraints, force transient optimization, etc. Theoretical, as well as experimental results will be presented.

引用

页码：592 / 598

页数：7

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