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An Augmented Discrete-Time Approach for Human-Robot Collaboration
المؤلفون المشاركون
Wang, Ke
Li, Ruifeng
Liang, Peidong
Ge, Lianzheng
Liu, Yihuan
Zhao, Lijun
المصدر
Discrete Dynamics in Nature and Society
العدد
المجلد 2016، العدد 2016 (31 ديسمبر/كانون الأول 2016)، ص ص. 1-13، 13ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2016-04-03
دولة النشر
مصر
عدد الصفحات
13
التخصصات الرئيسية
الملخص EN
Human-robot collaboration (HRC) is a key feature to distinguish the new generation of robots from conventional robots.
Relevant HRC topics have been extensively investigated recently in academic institutes and companies to improve human and robot interactive performance.
Generally, human motor control regulates human motion adaptively to the external environment with safety, compliance, stability, and efficiency.
Inspired by this, we propose an augmented approach to make a robot understand human motion behaviors based on human kinematics and human postural impedance adaptation.
Human kinematics is identified by geometry kinematics approach to map human arm configuration as well as stiffness index controlled by hand gesture to anthropomorphic arm.
While human arm postural stiffness is estimated and calibrated within robot empirical stability region, human motion is captured by employing a geometry vector approach based on Kinect.
A biomimetic controller in discrete-time is employed to make Baxter robot arm imitate human arm behaviors based on Baxter robot dynamics.
An object moving task is implemented to validate the performance of proposed methods based on Baxter robot simulator.
Results show that the proposed approach to HRC is intuitive, stable, efficient, and compliant, which may have various applications in human-robot collaboration scenarios.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Liang, Peidong& Ge, Lianzheng& Liu, Yihuan& Zhao, Lijun& Li, Ruifeng& Wang, Ke. 2016. An Augmented Discrete-Time Approach for Human-Robot Collaboration. Discrete Dynamics in Nature and Society،Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1103631
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Liang, Peidong…[et al.]. An Augmented Discrete-Time Approach for Human-Robot Collaboration. Discrete Dynamics in Nature and Society No. 2016 (2016), pp.1-13.
https://search.emarefa.net/detail/BIM-1103631
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Liang, Peidong& Ge, Lianzheng& Liu, Yihuan& Zhao, Lijun& Li, Ruifeng& Wang, Ke. An Augmented Discrete-Time Approach for Human-Robot Collaboration. Discrete Dynamics in Nature and Society. 2016. Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1103631
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1103631
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر
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