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
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;
Conference_Titel :
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location :
Seattle, WA
DOI :
10.1109/ICRA.2015.7139986