Abstract
Human-robot collaboration is an appealing solution to increase the flexibility of production lines. In this context, we propose a kinematic control strategy for dual-arm robotic platforms physically collaborating with human operators. Based on admittance control, our approach aims at improving the performance of object transportation tasks by acting on two levels: estimating and compensating gravity effects on one side, and considering human intention in the cooperative task space on the other. An experimental study using virtual reality reveals the effectiveness of our method in terms of reduced human energy expenditure.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
