Admittance control for collaborative dual-arm manipulation

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URI: https://hdl.handle.net/11556/1627
ISBN: 9781728124674
DOI: 10.1109/ICAR46387.2019.8981624
Publication date
2019-12
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Institute of Electrical and Electronics Engineers Inc.
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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.
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Publisher Copyright: © 2019 IEEE.
Keywords
Artificial Intelligence , Mechanical Engineering , Control and Optimization , Modeling and Simulation
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conference output
Citation
Tarbouriech , S , Navarro , B , Fraisse , P , Crosnier , A , Cherubini , A & Salle , D 2019 , Admittance control for collaborative dual-arm manipulation . in 2019 19th International Conference on Advanced Robotics, ICAR 2019 . , 8981624 , 2019 19th International Conference on Advanced Robotics, ICAR 2019 , Institute of Electrical and Electronics Engineers Inc. , pp. 198-204 , 19th International Conference on Advanced Robotics, ICAR 2019 , Belo Horizonte , Brazil , 2/12/19 . https://doi.org/10.1109/ICAR46387.2019.8981624
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