RT Conference Proceedings
T1 Admittance control for collaborative dual-arm manipulation
A1 Tarbouriech, Sonny
A1 Navarro, Benjamin
A1 Fraisse, Philippe
A1 Crosnier, Andre
A1 Cherubini, Andrea
A1 Salle, Damien
AB 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.
PB Institute of Electrical and Electronics Engineers Inc.
SN 9781728124674
YR 2019
FD 2019-12
LK https://hdl.handle.net/11556/1627
UL https://hdl.handle.net/11556/1627
LA eng
NO 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
NO conference
NO Publisher Copyright: © 2019 IEEE.
NO ACKNOWLEDGMENT This work has received funding from the EU H2020 research and innovation programme as part of the project VERSATILE (grant agreement No 731330).
DS TECNALIA Publications
RD 2 sept 2024