Title :
Adaptive behavior of an electromechanical arm robot in a case of physical interaction with a human being
Author :
Melnyk, A.A. ; Henaff, Patrick ; Razakarivony, Sebastien ; Borisenko, V.P. ; Gaussier, Philippe
Author_Institution :
Electr. Eng. Dept., Donetsk Nat. Tech. Univ., Donetsk, Ukraine
Abstract :
The aim of this paper is to consider the adaptation behavior of an electromechanical arm manipulator to the physical interaction of humans. Preliminary experiments to explore the possibility of adaptive interactions between an arm robot and a human without knowledge of the forces are investigated. A simple and efficient control adaptation of the system is implemented at the level of the electrical drive.
Keywords :
human-robot interaction; manipulators; adaptation behavior; control adaptation; electrical drive; electromechanical arm manipulator; electromechanical arm robot; human being; physical interaction; Force; Humans; Joints; Manipulators; Mathematical model; Service robots;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on
Conference_Location :
Budapest
Print_ISBN :
978-1-4577-0838-1
DOI :
10.1109/AIM.2011.6027148
