DocumentCode
2649764
Title
Human/robot interaction for human support system by using a mobile manipulator
Author
Jia, Yunyi ; Wang, Hai ; Stürmer, Philipp ; Xi, Ning
Author_Institution
Dept. of Electr. & Comput. Eng., Michigan State Univ., East Lansing, MI, USA
fYear
2010
fDate
14-18 Dec. 2010
Firstpage
190
Lastpage
195
Abstract
This paper shows how to use a mobile manipulator as a human support to assist human on accomplishing some complicated tasks. Dynamic model and control of the mobile manipulator are introduced. Two kinds of human support modes are designed by considering singularity, manipulability and safety of the whole system. Experimental results implemented on a mobile manipulator validate the proposed methods.
Keywords
design engineering; human-robot interaction; manipulators; mobile robots; service robots; dynamic model; human support modes; human-robot interaction; manipulability; mobile manipulator; singularity; Force; Humans; Manipulator dynamics; Mobile communication; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location
Tianjin
Print_ISBN
978-1-4244-9319-7
Type
conf
DOI
10.1109/ROBIO.2010.5723325
Filename
5723325
Link To Document