Design & personalization of a cooperative carrying robot controller

Chris A.C. Parker, Elizabeth A. Croft

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

5 Citations (Scopus)

Abstract

In the near future, as robots become more advanced and affordable, we can envision their use as intelligent assistants in a variety of domains. An exemplar human-robot task identified in many previous works is cooperatively carrying a physically large object. An important task objective is to keep the carried object level. In this work, we propose an admittance-based controller that maintains a level orientation of a cooperatively carried object. The controller raises or lowers its end of the object with a human-like behavior in response to perturbations in the height of the other end of the object (e.g., the end supported by the human user). We also propose a novel tuning procedure, and find that most users are in close agreement about preferring a slightly under-damped controller response, even though they vary in their preferences regarding the speed of the controller's response.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages3916-3921
Number of pages6
ISBN (Print)9781467314039
DOIs
Publication statusPublished - 1 Jan 2012
Externally publishedYes
EventIEEE International Conference on Robotics and Automation 2012 - Minneapolis, United States of America
Duration: 14 May 201218 May 2012
https://ieeexplore.ieee.org/xpl/conhome/6215071/proceeding (Proceedings)

Conference

ConferenceIEEE International Conference on Robotics and Automation 2012
Abbreviated titleICRA 2012
CountryUnited States of America
CityMinneapolis
Period14/05/1218/05/12
Internet address

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