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An Augmented Discrete-Time Approach for Human-Robot Collaboration
Joint Authors
Wang, Ke
Li, Ruifeng
Liang, Peidong
Ge, Lianzheng
Liu, Yihuan
Zhao, Lijun
Source
Discrete Dynamics in Nature and Society
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-04-03
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract 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.
American Psychological Association (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
Modern Language Association (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
American Medical Association (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
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1103631