@inproceedings{491e931341c546b59e14738fcc150e04,
title = "Human-preference-based control design: Adaptive robot admittance control for physical human-robot interaction",
abstract = "Aiming at the application in physical human-robot interaction, this paper presents a novel adaptive admittance control scheme for robotic manipulators. Special emphasis is drawn on the avoidance of oscillatory behavior in the presence of closed kinematic chains while keeping the rendered impedance low. The approach uses an online fast Fourier transform of the measured manipulator endeffector forces in order to detect oscillations and to adapt the admittance parameters dynamically. As a novel method towards human-centered control design the adaptation strategy is determined in a user study evaluated with a machine-learning algorithm. Experiments conducted with ten human participants show superiority over the non-adaptive admittance control scheme.",
author = "Vladislav Okunev and Thomas Nierhoff and Sandra Hirche",
year = "2012",
doi = "10.1109/ROMAN.2012.6343792",
language = "English",
isbn = "9781467346054",
series = "Proceedings - IEEE International Workshop on Robot and Human Interactive Communication",
pages = "443--448",
booktitle = "2012 IEEE RO-MAN",
note = "2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012 ; Conference date: 09-09-2012 Through 13-09-2012",
}