RT Journal Article
T1 Dual Arm Co-Manipulation Architecture with Enhanced Human–Robot Communication for Large Part Manipulation
A1 Ibarguren, Aitor
A1 Eimontaite, Iveta
A1 Outón, José Luis
A1 Fletcher, Sarah
AB The emergence of collaborative robotics has had a great impact on the development ofrobotic solutions for cooperative tasks nowadays carried out by humans, especially in industrialenvironments where robots can act as assistants to operators. Even so, the coordinated manipulationof large parts between robots and humans gives rise to many technical challenges, ranging from thecoordination of both robotic arms to the human–robot information exchange. This paper presents anovel architecture for the execution of trajectory driven collaborative tasks, combining impedancecontrol and trajectory coordination in the control loop, as well as adding mechanisms to provideeffective robot-to-human feedback for a successful and satisfactory task completion. The obtainedresults demonstrate the validity of the proposed architecture as well as its suitability for theimplementation of collaborative robotic systems.
PB Multidisciplinary Digital Publishing Institute (MDPI)
YR 2020
FD 2020-10-29
LK http://hdl.handle.net/11556/1014
UL http://hdl.handle.net/11556/1014
LA eng
NO Ibarguren, Aitor, Iveta Eimontaite, José Luis Outón, and Sarah Fletcher. “Dual Arm Co-Manipulation Architecture with Enhanced Human–Robot Communication for Large Part Manipulation.” Sensors 20, no. 21 (October 29, 2020): 6151. doi:10.3390/s20216151
NO This work has received funding from the European Union Horizon 2020 research and innovationprogramme as part of the project SHERLOCK under grant agreement No 820689
DS TECNALIA Publications
RD 1 jul 2024