TY - GEN
T1 - Human-robot cooperative object swinging
AU - Donner, Philine
AU - Mortl, Alexander
AU - Hirche, Sandra
AU - Buss, Martin
PY - 2013
Y1 - 2013
N2 - This paper investigates goal-directed cooperative object swinging as a novel physical human-robot interaction scenario. We develop an energy-based control concept, which enables a robot to cooperate with a human in a goal-directed swing-up task. The robot can be assigned to be a leader or an actively contributing follower. We conduct a virtual reality experiment to compare effort sharing and performance of mixed human-human and human-robot dyads. The leader and the follower controllers yield similar results compared to their human standard.
AB - This paper investigates goal-directed cooperative object swinging as a novel physical human-robot interaction scenario. We develop an energy-based control concept, which enables a robot to cooperate with a human in a goal-directed swing-up task. The robot can be assigned to be a leader or an actively contributing follower. We conduct a virtual reality experiment to compare effort sharing and performance of mixed human-human and human-robot dyads. The leader and the follower controllers yield similar results compared to their human standard.
UR - http://www.scopus.com/inward/record.url?scp=84887274170&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2013.6631192
DO - 10.1109/ICRA.2013.6631192
M3 - Conference contribution
AN - SCOPUS:84887274170
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4343
EP - 4349
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -