Path Recognition and Virtual Guides Design for Path Following Based on Human-Robot Collaboration
This paper presents a path recognition and virtual guides (VGs) design method for a task of path following based on human-robot collaboration (HRC). Firstly, a support vector machine (SVM) combined with least squares (LS) is developed to recognize the desired path based on human guidance. Secondly,...
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| Veröffentlicht in: | IEEE transactions on industrial electronics (1982) 2023-10, Vol.70 (10), p.1-10 |
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| container_title | IEEE transactions on industrial electronics (1982) |
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| creator | Song, Chenjian Xia, Jingkang Huang, Deqing Ma, Lei Li, Yanan |
| description | This paper presents a path recognition and virtual guides (VGs) design method for a task of path following based on human-robot collaboration (HRC). Firstly, a support vector machine (SVM) combined with least squares (LS) is developed to recognize the desired path based on human guidance. Secondly, VGs are designed based on the admittance control for human-robot collaborative path following, which combine the human's decision-making with the robot's accurate execution capability. The effectiveness and the robustness of the proposed method are verified on a 7-DOF Sawyer robot equipped with a force/torque sensor. |
| doi_str_mv | 10.1109/TIE.2022.3219102 |
| format | Article |
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| identifier | ISSN: 0278-0046 |
| ispartof | IEEE transactions on industrial electronics (1982), 2023-10, Vol.70 (10), p.1-10 |
| issn | 0278-0046 1557-9948 |
| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Admittance control Collaboration Cooperation Decision making human-robot collaboration Laser beam cutting least squares Manipulator dynamics Recognition Robot control Robot kinematics Robot sensing systems Robots support vector machine Support vector machines Task analysis Torque sensors (robotics) Trajectory planning virtual guides |
| title | Path Recognition and Virtual Guides Design for Path Following Based on Human-Robot Collaboration |
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