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Human-robot co-carrying using visual and force sensing

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posted on 2023-06-07, 07:41 authored by Xinbo Yu, Wei He, Qing Li, Yanan LiYanan Li, Bin Li
In 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.

History

Publication status

  • Published

File Version

  • Accepted version

Journal

IEEE Transactions on Industrial Electronics

ISSN

0278-0046

Publisher

IEEE

Issue

9

Volume

68

Page range

8657-8666

Department 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

2020-08-05

First Open Access (FOA) Date

2020-08-05

First Compliant Deposit (FCD) Date

2020-08-04

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