Artículo
Control of bidirectional physical human-robot interaction based on the human intention
Leica Arteaga, Paulo Cesar; Roberti, Flavio
; Monllor, Matias Miguel
; Toibero, Juan Marcos
; Carelli Albarracin, Ricardo Oscar
![Icon](/themes/CONICETDigital/images/conicet.png)
![Icon](/themes/CONICETDigital/images/conicet.png)
![Icon](/themes/CONICETDigital/images/conicet.png)
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Fecha de publicación:
01/2017
Editorial:
Springer Verlag Berlín
Revista:
Intelligent Service Robotics
ISSN:
1861-2776
e-ISSN:
1861-2784
Idioma:
Inglés
Tipo de recurso:
Artículo publicado
Clasificación temática:
Resumen
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 force direction to guide the robot through unstructured environments. Robot dynamics is included to improve the interaction performance. Stability analysis of the proposed control system is proved by using Lyapunov theory. Real experiments of the human–robot interaction show the performance of the proposed controllers.
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Articulos(INAUT)
Articulos de INSTITUTO DE AUTOMATICA
Articulos de INSTITUTO DE AUTOMATICA
Citación
Leica Arteaga, Paulo Cesar; Roberti, Flavio; Monllor, Matias Miguel; Toibero, Juan Marcos; Carelli Albarracin, Ricardo Oscar; Control of bidirectional physical human-robot interaction based on the human intention; Springer Verlag Berlín; Intelligent Service Robotics; 10; 1; 1-2017; 31-40
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