Title :
Design & Personalization of a Cooperative Carrying Robot Controller
Author :
Parker, Chris A C ; Croft, Elizabeth A.
Author_Institution :
Deptartment of Mech. Eng., Univ. of British Columbia, Vancouver, BC, Canada
Abstract :
In the near future, as robots become more advanced and affordable, we can envision their use as intelligent assistants in a variety of domains. An exemplar human-robot task identified in many previous works is cooperatively carrying a physically large object. An important task objective is to keep the carried object level. In this work, we propose an admittance-based controller that maintains a level orientation of a cooperatively carried object. The controller raises or lowers its end of the object with a human-like behavior in response to perturbations in the height of the other end of the object (e.g., the end supported by the human user). We also propose a novel tuning procedure, and find that most users are in close agreement about preferring a slightly under-damped controller response, even though they vary in their preferences regarding the speed of the controller´s response.
Keywords :
cooperative systems; human-robot interaction; intelligent robots; perturbation techniques; task analysis; tuning; admittance-based controller; carried object level; controller response speed; cooperative carrying robot controller; cooperatively carried object; exemplar human-robot task; human-like behavior; intelligent assistants; level orientation; perturbations; physically large object; task objective; tuning procedure; under-damped controller response; Damping; Force; Humans; Robot sensing systems; Trajectory; Tuning;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6225120