TY - GEN
T1 - Human-robot cooperative swinging of complex pendulum-like objects
AU - Donner, Philine
AU - Christange, Franz
AU - Buss, Martin
PY - 2013
Y1 - 2013
N2 - This paper investigates human-robot cooperative swinging of a complex pendulum-like object. The complexity of the object results in two possible swinging modes. The goal is to excite one mode such that a desired energy level of the pendulum is reached while simultaneously damping the other mode. The energy based control concept relies on the projection of the complex mechanism onto an abstract simple pendulum with two-sided actuation. An actively contributing robot leader and robot follower are implemented. The controller performance is analyzed through simulations. A virtual reality experiment shows the transferability of the control approach to a human interaction partner.
AB - This paper investigates human-robot cooperative swinging of a complex pendulum-like object. The complexity of the object results in two possible swinging modes. The goal is to excite one mode such that a desired energy level of the pendulum is reached while simultaneously damping the other mode. The energy based control concept relies on the projection of the complex mechanism onto an abstract simple pendulum with two-sided actuation. An actively contributing robot leader and robot follower are implemented. The controller performance is analyzed through simulations. A virtual reality experiment shows the transferability of the control approach to a human interaction partner.
UR - http://www.scopus.com/inward/record.url?scp=84893786816&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6697018
DO - 10.1109/IROS.2013.6697018
M3 - Conference contribution
AN - SCOPUS:84893786816
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4602
EP - 4608
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -