@inproceedings{53600835096849eba6648d53f0e517fd,
title = "Controller synthesis for human-robot cooperative swinging of rigid objects based on human-human experiments",
abstract = "Cooperative dynamic object manipulation extends the manipulation capabilities of human-robot dyads. This paper investigates cooperative swinging of rigid objects with the goal of reaching a desired level of energy, i.e. a desired object height. A human-human pilot study indicates that the arm-object-arm system can be approximated by a simple pendulum with two-sided unidirectional pulsed torque actuation. Based on the results of the human-human experiments, a robotic leader and follower controller are synthesized. Multi-body simulations based on human-like parameters successfully replicate the characteristics observed in the human-human experiments.",
author = "Philine Donner and Florian Wirnshofer and Martin Buss",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 23rd IEEE International Symposium on Robot and Human Interactive Communication, IEEE RO-MAN 2014 ; Conference date: 25-08-2014 Through 29-08-2014",
year = "2014",
month = oct,
day = "15",
doi = "10.1109/ROMAN.2014.6926316",
language = "English",
series = "IEEE RO-MAN 2014 - 23rd IEEE International Symposium on Robot and Human Interactive Communication: Human-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "586--592",
editor = "Rui Loureiro and Aris Alissandrakis and Adriana Tapus and Selma Sabanovic and Fumihide Tanaka and Yukie Nagai",
booktitle = "IEEE RO-MAN 2014 - 23rd IEEE International Symposium on Robot and Human Interactive Communication",
}