TY - GEN
T1 - An HMM approach to realistic haptic Human-Robot interaction
AU - Wang, Zheng
AU - Peer, Angelika
AU - Buss, Martin
PY - 2009
Y1 - 2009
N2 - A robot controller is developed for human-robot handshaking. The focus of the work is to provide realistic experiences for the human participant in haptic interactions with a robot. To achieve this goal, a position-based admittance controller is implemented. By using haptic data as inputs, a Hidden Markov Model-based high-level controller is used to estimate human intentions and modify the reference trajectory accordingly. The overall control framework is implemented onto a robot with validation experiments carried out with human participants.
AB - A robot controller is developed for human-robot handshaking. The focus of the work is to provide realistic experiences for the human participant in haptic interactions with a robot. To achieve this goal, a position-based admittance controller is implemented. By using haptic data as inputs, a Hidden Markov Model-based high-level controller is used to estimate human intentions and modify the reference trajectory accordingly. The overall control framework is implemented onto a robot with validation experiments carried out with human participants.
UR - http://www.scopus.com/inward/record.url?scp=67649648226&partnerID=8YFLogxK
U2 - 10.1109/WHC.2009.4810835
DO - 10.1109/WHC.2009.4810835
M3 - Conference contribution
AN - SCOPUS:67649648226
SN - 9781424438587
T3 - Proceedings - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009
SP - 374
EP - 379
BT - Proceedings - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009
T2 - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009
Y2 - 18 March 2009 through 20 March 2009
ER -