Abstract
In this paper, an interactive control scheme is developed for physical human-robot interaction. The human interacts with the manipulator when it is stationary by applying impulsive forces in the form of push-and-pull. The magnitude and direction of the human force are estimated by observing the joint actuation currents. The reference position of the end-effector is updated based on the human-force information. The developed scheme does not use any force sensors, does not limit the interaction to any specific location, and uses very cheap and easy-to-mount current sensors. This paper shows that physical human-robot interaction can be achieved by using cheap equipment and well-known techniques that can easily be implemented on light-weight robots with back-drivable joints.
Original language | English |
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Pages (from-to) | 233-243 |
Number of pages | 11 |
Journal | International Journal of Robotics and Automation |
Volume | 27 |
Issue number | 3 |
DOIs | |
Publication status | Published - 23 Jul 2012 |
Keywords
- Interactive control
- Physical human-robot interaction
- Social robotics