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Tesi etd-11122009-102330


Thesis type
Tesi di laurea specialistica
Author
DE CARLI, DAVIDE
URN
etd-11122009-102330
Title
User Intent Based Control in Human-Robot Cooperative Manipulation
Struttura
INGEGNERIA
Corso di studi
INGEGNERIA DELLA AUTOMAZIONE
Commissione
relatore Prof. Bicchi, Antonio
relatore Dott. Pollini, Lorenzo
relatore Prof. Croft, Elizabeth A.
Parole chiave
  • load sharing
  • cooperative manipulation
  • pHRI
  • inference engine
  • orienting response
  • user intent
Data inizio appello
17/12/2009;
Consultabilità
parziale
Data di rilascio
17/12/2049
Riassunto analitico
Since the very beginning of industrial robotics, safety has been a fundamental point<br>and robots have been kept in closed work-cells, avoiding interaction with humans.<br>However, many of the future and emerging applications of robotics will indeed require<br>robots to work in direct contact with humans.<br>Robotic systems designed to share an environment with humans must fulfill different requirements from those typically met in industry.<br>To effectively interact with people in a physically assistive role, robots will need to be able to cooperatively manipulate objects with a<br>human partner. For example, it can be very difficult for an individual to manipulate a long object and a robotic assistant can help to improve the manoeuvrability of the load.<br>Herein, non-verbal communication in a human-robot coordinated manipulation task is addressed using a robot arm equipped with a wrist mounted force/torque sensor.<br>To aid collaborative manipulation we implement an impedance nonholonomic constraint at the robot end-effector with an attractive force to a path. We utilize force/torque sensor measurements in order to identify intentional user communications specifying a change in the task direction and the path is recomputed on-line as a function of user input. Moreover, we consider the effects of path recomputation and the resulting robot haptic feedback on user physiological response.
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