Human-robot co-carrying using visual and force sensing
In this article, we propose a hybrid framework using visual and force sensing for human-
robot co-carrying tasks. Visual sensing is utilized to obtain human motion and an observer is …
robot co-carrying tasks. Visual sensing is utilized to obtain human motion and an observer is …
On a hierarchical adaptive and robust inverse dynamic control strategy with experiment for robot manipulators under uncertainties
This paper proposes a hierarchical robot manipulation control scheme for the manipulator
pushing task. Considering the contact surface and the object mass parameters are generally …
pushing task. Considering the contact surface and the object mass parameters are generally …
Cooperative manipulation of deformable objects by single-leader–dual-follower teleoperation
This article proposes a method for single-leader–dual-follower teleoperation, where one
robot (direct-follower robot, DFR) is directly teleoperated and the other robot (assisting …
robot (direct-follower robot, DFR) is directly teleoperated and the other robot (assisting …
Stable and compliant motion of physical human–robot interaction coupled with a moving environment using variable admittance and adaptive control
There are an increasing number of applications that require the end-effector of a robotic
manipulator to be compliant in response to the intended force exerted by a human operator …
manipulator to be compliant in response to the intended force exerted by a human operator …
Estimation and exploitation of objects' inertial parameters in robotic grasping and manipulation: A survey
N Mavrakis, R Stolkin - Robotics and Autonomous Systems, 2020 - Elsevier
Inertial parameters characterise an object's motion under applied forces, and can provide
strong priors for planning and control of robotic actions to manipulate the object. However …
strong priors for planning and control of robotic actions to manipulate the object. However …
Intelligent assistance for older adults via an admittance-controlled wheeled mobile manipulator with task-dependent end-effectors
The increase in the ageing population worldwide poses a severe challenge in assisting
older individuals to live independently, including the provision of mobility assistance and …
older individuals to live independently, including the provision of mobility assistance and …
Modeling and control of multi-arm and multi-leg robots: Compensating for object dynamics during grasping
We consider a virtual manipulator in grasping scenarios which allows us to capture the effect
of the object dynamics. This modeling approach turns a multi-arm robot into an …
of the object dynamics. This modeling approach turns a multi-arm robot into an …
Task-based role adaptation for human-robot cooperative object handling
RJ Ansari, Y Karayiannidis - IEEE Robotics and Automation …, 2021 - ieeexplore.ieee.org
In this letter, we propose a task-based role allocation control scheme for the cooperative
manipulation of a rigid-body object held jointly by a human and a robot. The task-based …
manipulation of a rigid-body object held jointly by a human and a robot. The task-based …
Human-robot collaboration for heavy object manipulation: Kinesthetic teaching of the role of wheeled mobile manipulator
Human-robot collaboration (HRC) significantly extends robotic systems' applications when
working in spaces like houses, hospitals, or laboratories. However, new challenges appear …
working in spaces like houses, hospitals, or laboratories. However, new challenges appear …
Co-carrying an object by robot in cooperation with humans using visual and force sensing
Human–robot collaboration poses many challenges where humans and robots work inside
a shared workspace. Robots collaborating with humans indirectly bring difficulties for …
a shared workspace. Robots collaborating with humans indirectly bring difficulties for …