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Motion synchronization in human-robot co-transport without force sensing
conference contribution
posted on 2023-06-09, 12:42 authored by Lin Yang, Yanan LiYanan Li, Deqing HuangIn this paper, a human-robot co-transport system is studied where an object is transported from one position to a target position with two control inputs from a human and a robot. Motion synchronization is achieved when the human and the robot’s motion intentions are identical. The human partner’s motion intention is estimated based on his/her control input to the system, while his/her control input is estimated by developing an observer. The proposed method enables the robot to collaborate with its human partner efficiently and it does not require the force sensing at the interaction point. Simulation results are presented to illustrate the feasibility and advantages of the proposed method.
History
Publication status
- Published
File Version
- Accepted version
Journal
2018 37th Chinese Control Conference (CCC)ISSN
1934-1768Publisher
IEEEExternal DOI
Page range
5369-5374Event name
The 37th Chinese Control ConferenceEvent location
Wuhan, ChinaEvent type
conferenceEvent date
25-27 July 2018Department affiliated with
- Engineering and Design Publications
Full text available
- No
Peer reviewed?
- Yes
Legacy Posted Date
2018-04-05First Compliant Deposit (FCD) Date
2018-04-02Usage metrics
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