Human-inspired robot assistant for fast point-to-point movements

被引：117

作者：

Corteville, B. ^{[1
]}

Aertbelien, E. ^{[1
]}

Bruyninckx, H. ^{[1
]}

De Schutter, J. ^{[1
]}

Van Brussel, H. ^{[1
]}

机构：

[1] Katholieke Univ Leuven, Dept Mech Engn, B-3000 Louvain, Belgium

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

关键词：

D O I：

10.1109/ROBOT.2007.364036

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A first step towards truly versatile robot assistants consists of building up experience with simple tasks such as the cooperative manipulation of objects. This paper extends the state-of-the-art by developing an assistant which actively cooperates during the point-to-point transportation of an object. Besides using admittance control to react to interaction forces generated by its operator, the robot estimates the intended human motion and uses this identified motion to move along with the operator. The offered level of assistance can be scaled, which is vital to give the operator the opportunity to gradually learn how to interact with the system. Experiments revealed that, while the robot is programmed to adapt to the human motion, the operator also adapts to the offered assistance. When using the robot assistant the required forces to move the load are greatly reduced and the operators report that the assistance feels comfortable and natural.

引用

页码：3639 / +

页数：2

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