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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
Supervisors
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
and robots have been kept in closed work-cells, avoiding interaction with humans.
However, many of the future and emerging applications of robotics will indeed require
robots to work in direct contact with humans.
Robotic systems designed to share an environment with humans must fulfill different requirements from those typically met in industry.
To effectively interact with people in a physically assistive role, robots will need to be able to cooperatively manipulate objects with a
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.
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.
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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