DocumentCode :
2954504
Title :
A kinematic controller for human-robot handshaking using internal motion adaptation
Author :
Papageorgiou, Dimitrios ; Doulgeri, Zoe
Author_Institution :
Dept. of Electr. & Comput. Eng., Aristotle Univ. of Thessaloniki, Thessaloniki, Greece
fYear :
2015
fDate :
26-30 May 2015
Firstpage :
5622
Lastpage :
5627
Abstract :
This work proposes a kinematic control method for human-robot handshake motions achieving fast motion synchronization given a preset internal robot handshake motion and a compliance level that reflects the robot´s level of passiveness. The proposed method combines a non-linear dynamic system having an attractive limit cycle with an admittance controller and an adaptation mechanism so that interaction forces are minimized and a consensus oscillation is achieved between the engaging participants. The proposed method is validated by experimenting with a KUKA LWR4+ 7dof arm under various scenarios.
Keywords :
end effectors; force control; human-robot interaction; manipulator kinematics; motion control; nonlinear dynamical systems; KUKA LWR4+ 7dof arm; adaptation mechanism; admittance controller; attractive limit cycle; consensus oscillation; fast motion synchronization; human-robot handshaking; interaction force minimization; internal motion adaptation; internal robot handshake motion; kinematic controller; nonlinear dynamic system; passiveness level; Admittance; Force; Generators; Limit-cycles; Oscillators; Robots; Synchronization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location :
Seattle, WA
Type :
conf
DOI :
10.1109/ICRA.2015.7139986
Filename :
7139986
Link To Document :
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