Admittance control for collaborative dual-arm manipulation

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dc.contributor.authorTarbouriech, Sonny
dc.contributor.authorNavarro, Benjamin
dc.contributor.authorFraisse, Philippe
dc.contributor.authorCrosnier, Andre
dc.contributor.authorCherubini, Andrea
dc.contributor.authorSalle, Damien
dc.contributor.institutionROBOTICA_FLEX
dc.date.accessioned2024-07-24T11:47:06Z
dc.date.available2024-07-24T11:47:06Z
dc.date.issued2019-12
dc.descriptionPublisher Copyright: © 2019 IEEE.
dc.description.abstractHuman-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.en
dc.description.sponsorshipACKNOWLEDGMENT This work has received funding from the EU H2020 research and innovation programme as part of the project VERSATILE (grant agreement No 731330).
dc.description.statusPeer reviewed
dc.format.extent7
dc.identifier.citationTarbouriech , 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
dc.identifier.citationconference
dc.identifier.doi10.1109/ICAR46387.2019.8981624
dc.identifier.isbn9781728124674
dc.identifier.urihttps://hdl.handle.net/11556/1627
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85084281911&partnerID=8YFLogxK
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.ispartof2019 19th International Conference on Advanced Robotics, ICAR 2019
dc.relation.ispartofseries2019 19th International Conference on Advanced Robotics, ICAR 2019
dc.relation.projectIDEU H2020
dc.relation.projectIDHorizon 2020 Framework Programme, H2020, 731330
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsArtificial Intelligence
dc.subject.keywordsMechanical Engineering
dc.subject.keywordsControl and Optimization
dc.subject.keywordsModeling and Simulation
dc.titleAdmittance control for collaborative dual-arm manipulationen
dc.typeconference output
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