An HMM approach to realistic haptic human-robot interaction

被引：92

作者：

Wang, Zheng ^{[1
]}

Peer, Angelika ^{[1
]}

Buss, Martin ^{[1
]}

机构：

[1] Tech Univ Munich, Inst Automat Control Engn, D-80290 Munich, Germany

来源：

WORLD HAPTICS 2009: THIRD JOINT EUROHAPTICS CONFERENCE AND SYMPOSIUM ON HAPTIC INTERFACES FOR VIRTUAL ENVIRONMENT AND TELEOPERATOR SYSTEMS, PROCEEDINGS | 2009年

关键词：

D O I：

10.1109/WHC.2009.4810835

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A robot controller is developed for human-robot handshaking. The focus of the work is to provide realistic experiences for the human participant in haptic interactions with a robot. To achieve this goal, a position-based admittance controller is implemented. By using haptic data as inputs, a Hidden Markov Model-based high-level controller is used to estimate human intentions and modify the reference trajectory accordingly. The overall control framework is implemented onto a robot with validation experiments carried out with human participants.

引用

页码：374 / 400

页数：27

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