Title :
Human-robot cooperative manipulation with motion estimation
Author :
Maeda, Yusuke ; Hara, Tenshi ; Arai, Tamio
Author_Institution :
Dept. of Precision Eng., Tokyo Univ., Japan
Abstract :
A control method of robots for human-robot cooperative manipulation is investigated. We propose estimating human motion using the minimum jerk model for smooth cooperation. Using a nonlinear least-squares method, we identify two parameters of the minimum jerk model in real-time. The estimated position of the human hand is used to determine the desired position of the end-effector of the manipulator in virtual compliance control. The effectiveness of the proposed method is verified by experimentation with an industrial 6-degree-of-freedom manipulator. Energy transfer in cooperative manipulation is studied for quantitative evaluation of achieved cooperation from the viewpoint of adaptation theory
Keywords :
compliance control; discrete time systems; man-machine systems; manipulators; motion estimation; robot vision; adaptation theory; end-effector; energy transfer; human-robot cooperative manipulation; industrial 6 DOF manipulator; industrial 6-degree-of-freedom manipulator; minimum jerk model; motion estimation; nonlinear least-squares method; quantitative evaluation; smooth cooperation; virtual compliance control; Force control; Force sensors; Humans; Impedance; Intelligent robots; Manipulators; Motion estimation; Robot control; Robot sensing systems; Service robots;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976403
