Control of bidirectional physical human–robot interaction based on the human intention

This paper presents a control strategy for human–robot interaction with physical contact, recognizing the human intention to control the movement of a non-holonomic mobile robot. The human intention is modeled by mechanical impedance, sensing the human-desired force intensity and the human-desired f...

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Veröffentlicht in:	Intelligent service robotics 2017, Vol.10 (1), p.31-40
Hauptverfasser:	Leica, Paulo, Roberti, Flavio, Monllor, Matías, Toibero, Juan M., Carelli, Ricardo
Format:	Artikel
Sprache:	eng
Schlagworte:	Artificial Intelligence Control Controllers Cooperation Dynamic stability Dynamical Systems Engineering Human motion Mechanical impedance Mechatronics Motion control Older people Original Research Paper People with disabilities Robot control Robot dynamics Robotics Robotics and Automation Robots Sensors Stability analysis User Interfaces and Human Computer Interaction Velocity Vibration Visual impairment
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