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Human-robot co-carrying using visual and force sensing
journal contribution
posted on 2023-06-07, 07:41 authored by Xinbo Yu, Wei He, Qing Li, Yanan LiYanan Li, Bin LiIn this paper, we propose a hybrid framework using visual and force sensing for human-robot co-carrying tasks. Visual sensing is utilized to obtain human motion and an observer is designed for estimating control input of human, which generates robot's desired motion towards human's intended motion. An adaptive impedance-based control strategy is proposed for trajectory tracking with neural networks (NNs) used to compensate for uncertainties in robot's dynamics. Motion synchronization is achieved and this approach yields a stable and efficient interaction behavior between human and robot, decreases human control effort and avoids interference to human during the interaction. The proposed framework is validated by a co-carrying task in simulations and experiments.
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Publication status
- Published
File Version
- Accepted version
Journal
IEEE Transactions on Industrial ElectronicsISSN
0278-0046Publisher
IEEEExternal DOI
Issue
9Volume
68Page range
8657-8666Department affiliated with
- Engineering and Design Publications
Notes
© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2020-08-05First Open Access (FOA) Date
2020-08-05First Compliant Deposit (FCD) Date
2020-08-04Usage metrics
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