Human-robot cooperative manipulation using a virtual nonholonomic constraint

Proceedings-IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 2000, Pages 4063-4069

  Arai, Hirohiko ^a   Takubo, Tomohito ^b   Hayashibara, Yasuo ^c   Tanie, Kazuo ^a  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

^b UNIVERSITY OF TSUKUBA   (Japan)

^c TOIN UNIVERSITY OF YOKOHAMA   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

COOPERATIVE MANIPULATION; HUMAN ROBOT COOPERATION; IMPEDANCE CONTROL; VIRTUAL NONHOLONOMIC CONSTRAINT;

CONTROL SYSTEMS; END EFFECTORS; HUMAN COMPUTER INTERACTION; MANIPULATORS; MECHANICAL VARIABLES CONTROL; MOTION CONTROL; PERSONNEL; ROBOTIC ARMS; SENSORS; USER INTERFACES;

ROBOT APPLICATIONS;

EID: 0033706372     PISSN: 10504729     EISSN: None     Source Type: Journal    
DOI: 10.1109/ROBOT.2000.845365     Document Type: Article

References (8)

1. Y. Hayashibara et al., "Assist System for Carrying a Long Object with a Human-Analysis of a human Cooperative Behavior in the Vertical Direction-," Proc. 1999 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'99), 1999.
2. H. Kazerooni, "Human Robot Interaction via the Transfer of Power and Information Signals," IEEE Trans. Systems, Man and Cybernetics, Vol. 20, NO. 2, pp.450-463, 1990.
3. K. Kosuge, Y. Fujisawa and T. Fukuda, "Mechanical System Control with Man-Machine-Environment Interactions," Proc. 1993 IEEE Int. Conf. on Robotics and Automation, pp.239-244, 1993.
4. Y. Hayashibara, K. Tanie, H. Arai and H. Tokashiki, "Development of Power Assist System with Individual Compensation Ratios for Gravity and Dynamic Load," Proc. 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'97), pp.640-646, 1997.
5. K. Kosuge, H. Yoshida and T. Fukuda, "Dynamic Control for Robot-Human Collaboration," IEEE Int. Workshop on Robot and Human Communication, pp.398-401, 1993.
6. R. Ikeura and H. Inooka, "Variable Impedance Control of a Robot for Cooperation with a Human," Proc. 1995 IEEE Int. Conf on Robotics and Automation, pp.3097-3102, 1995.
7. O M. Al-Jarrah and Y. F. Zheng, "Arm-Manipulator Coordination for Load Sharing Using Reflexive Motion Control," Proc. 1997 IEEE Int. Conf on Robotics and Automation, pp.2326-2331, 1997.
8. R. M. Murray, Z. Li and S. S. Sastry, A Mathematacal Introduction to Robotic Manipulation, CRC Press, 1993.