Path Driven Dual Arm Mobile Co-Manipulation Architecture for Large Part Manipulation in Industrial Environments

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dc.contributor.authorIbarguren, Aitor
dc.contributor.authorDaelman, Paul
dc.contributor.institutionTecnalia Research & Innovation
dc.contributor.institutionROBOTICA_AUTOMA
dc.date.issued2021-10-05
dc.descriptionPublisher Copyright: © 2021 by the authors. Licensee MDPI, Basel, Switzerland.
dc.description.abstractCollaborative part transportation is an interesting application as many industrial sectors require moving large parts among different areas of the workshops, using a large amount of the workforce on this tasks. Even so, the implementation of such kinds of robotic solutions raises technical challenges like force-based control or robot-to-human feedback. This paper presents a path-driven mobile co-manipulation architecture, proposing an algorithm that deals with all the steps of collaborative part transportation. Starting from the generation of force-based twist commands, continuing with the path management for the definition of safe and collaborative areas, and finishing with the feedback provided to the system users, the proposed approach allows creating collaborative lanes for the conveyance of large components. The implemented solution and performed tests show the suitability of the proposed architecture, allowing the creation of a functional robotic system able to assist operators transporting large parts on workshops.en
dc.description.statusPeer reviewed
dc.format.extent1
dc.format.extent2231796
dc.identifier.citationIbarguren , A & Daelman , P 2021 , ' Path Driven Dual Arm Mobile Co-Manipulation Architecture for Large Part Manipulation in Industrial Environments ' , Sensors , vol. 21 , no. 19 , 6620 , pp. 6620 . https://doi.org/10.3390/s21196620
dc.identifier.doi10.3390/s21196620
dc.identifier.issn1424-3210
dc.identifier.otherresearchoutputwizard: 11556/1246
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85116235331&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartofSensors
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsMobile co-manipulation
dc.subject.keywordsForce control
dc.subject.keywordsHuman-robot interaction
dc.subject.keywordsRobotic application
dc.subject.keywordsAssistant robots
dc.subject.keywordsMobile co-manipulation
dc.subject.keywordsForce control
dc.subject.keywordsHuman-robot interaction
dc.subject.keywordsRobotic application
dc.subject.keywordsAssistant robots
dc.subject.keywordsAnalytical Chemistry
dc.subject.keywordsInformation Systems
dc.subject.keywordsBiochemistry
dc.subject.keywordsAtomic and Molecular Physics, and Optics
dc.subject.keywordsInstrumentation
dc.subject.keywordsElectrical and Electronic Engineering
dc.subject.keywordsSDG 9 - Industry, Innovation, and Infrastructure
dc.subject.keywordsProject ID
dc.subject.keywordsinfo:eu-repo/grantAgreement/EC/H2020/820689/EU/Seamless and safe human - centred robotic applications for novel collaborative workplaces/SHERLOCK
dc.subject.keywordsinfo:eu-repo/grantAgreement/EC/H2020/820689/EU/Seamless and safe human - centred robotic applications for novel collaborative workplaces/SHERLOCK
dc.subject.keywordsFunding Info
dc.subject.keywordsThis work has received funding from the European Union Horizon 2020 research and innovation programme as part of the project SHERLOCK under grant agreement No 820689.
dc.subject.keywordsThis work has received funding from the European Union Horizon 2020 research and innovation programme as part of the project SHERLOCK under grant agreement No 820689.
dc.titlePath Driven Dual Arm Mobile Co-Manipulation Architecture for Large Part Manipulation in Industrial Environmentsen
dc.typejournal article
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