The role of roles: Physical cooperation between humans and robots

International Journal of Robotics Research

Volumn 31, Issue 13, 2012, Pages 1656-1674

  Mörtl, Alexander ^a   Lawitzky, Martin ^a   Kucukyilmaz, Ayse ^b   Sezgin, Metin ^b   Basdogan, Cagatay ^b   Hirche, Sandra ^a  

^a TECHNICAL UNIVERSITY OF MUNICH   (Germany)

^b KOÇ UNIVERSITY   (Turkey)

Author keywords

Cooperative manipulation; human feedback; input decomposition; kinesthetic interaction; load sharing

Indexed keywords

COOPERATING AGENTS; COOPERATIVE MANIPULATIONS; DYNAMIC ROLES; ENERGY EXCHANGES; EXCHANGE MECHANISM; FORCE INPUT; FORMAL ANALYSIS; FULL BODY; HUMAN MOTIONS; INPUT DECOMPOSITION; KINESTHETIC INTERACTION; LOAD SHARING; OBJECTIVE PERFORMANCE MEASURES; REACTIVE BEHAVIOR; ROBOT BEHAVIOR; ROBOTICS RESEARCH; ROLE ALLOCATION; TASK-BASED; USER STUDY; WORKING SPACE;

BEHAVIORAL RESEARCH; DYNAMICS;

HUMAN ROBOT INTERACTION;

EID: 84870552561     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364912455366     Document Type: Article

References (46)

1. Abbink D, Mulder M, Boer E. Haptic shared control: smoothly shifting control authority?. Cognition, Technology and Work. 2012 ; 14: 19-28
2. Althoff D, Kourakos O, Lawitzky M, Mörtl A, Rambow M, Rohrmüller F, et al Cognitive Systems Monographs. New York: Springer ; 2009: 43-52.
3. Atkeson C, An C, Hollerbach J. Estimation of inertial parameters of manipulator loads and links. The International Journal of Robotics Research. 1986 ; 5: 101-119
4. Basdogan C, Ho C-H, Srinivasan M, Slater M. An experimental study on the role of touch in shared virtual environments. ACM Transactions on Computer-Human Interaction. 2000 ; 7: 443-460
5. Donald B, Xavier P, Canny J, Reif J. Kinodynamic motion planning. Journal of the Association for Computing Machinery. 1993 ; 40: 1048-1066
6. Doty K, Melchiorri C, Bonivento C. A theory of generalized inverses applied to robotics. The International Journal of Robotics Research. 1993 ; 12: 1-19
7. Evrard P, Kheddar A. Homotopy switching model for dyad haptic interaction in physical collaborative tasks. Proceedings of EHS EuroHaptics'09. 2009 ;: 45-50
8. Feth D, Groten R, Peer A, Hirche S, Buss M. Performance related energy exchange in haptic human-human interaction in a shared virtual object manipulation task. Proceedings of EHS EuroHaptics'09. 2009 ;: 338-343
9. Flash T, Hogan N. The coordination of arm movements: An experimentally confirmed mathematical model. Journal of Neuroscience. 1985 ; 5: 1688-1703
10. Forsyth B, Maclean K. Predictive haptic guidance: intelligent user assistance for the control of dynamic tasks. IEEE Transactions on Visualization and Computer Graphics. 2006 ; 12: 103-113
11. Franklin D, Osu R, Burdet E, Kawato M, Milner T. Adaptation to stable and unstable dynamics achieved by combined impedance control and inverse dynamics model. Journal of Neurophysics. 2003 ; 90: 3270-3282
12. Gillespie R, Colgate J, Peshkin M. A general framework for cobot control. IEEE Transactions on Robotics and Automation. 2001 ; 17: 391-401
13. Groten R, Feth D, Goshy H, Peer A, Kenny D, Buss M. Experimental analysis of dominance in haptic collaboration. Proceedings IEEE RO-MAN. 2009 ;: 723-729
14. Hanebeck U, Saldic N, Schmidt G. A modular wheel system for mobile robot applications. Proceedings IEEE/RSJ IROS. 1999 ;: 17-22
15. Hart SG, Stavenland LE Human Mental Workload. Hancock PA Meshkati N, ed. Amsterdam: Elsevier ; 1988: 139-183.
16. Hirata Y, Kosuge K. Distributed robot helpers handling a single object in cooperation with human. Proceedings IEEE ICRA. 2000 ;: 458-463
17. Ikeura R, Monden H, Inooka H. Cooperative motion control of a robot and a human. Proceedings IEEE RO-MAN. 1994 ;: 112-117
18. Ikeura R, Moriguchi T, Mizutani K. Optimal variable impedance control for a robot and its application to lifting an object with a human. Proceedings IEEE RO-MAN. 2002 ;: 500-505
19. Kheddar A. Human-robot haptic joint actions Is an equal control-sharing approach possible?. Proceedings IEEE HSI. 2011 ;: 268-273
20. Kirsch A, Kruse T, Sisbot E, Alami R, Lawitzky M, Bršč ić D, et al. Plan-based control of joint human-robot activities. Künstliche Intelligenz. 2010 ; 24: 223-231
21. Kosuge K, Hirata Y. Human-robot interaction. Proceedings IEEE ROBIO. 2004 ;: 8-11
22. Kosuge K, Yoshida H, Fukuda T. Dynamic control for robot-human collaboration. Proceedings IEEE International Workshop on Robot and Human Communication ; 1993 ; 1993. 398.
23. Kucukyilmaz A, Sezgin M, Basdogan C. Conveying intentions through haptics in human-computer collaboration. Proceedings IEEE WHC. 2011 ;: 421-426
24. Lawitzky M, Mörtl A, Hirche S. Load sharing in human-robot cooperative manipulation. Proceedings IEEE RO-MAN. 2010 ;: 185-191
25. Maeda Y, Hara T, Arai T. Human-robot cooperative manipulation without motion estimation. Proceedings IEEE/RSJ IROS. 2001 ;: 2240-2245
26. Medina J, Lawitzky M, Mörtl A, Lee D, Hirche S. An experience-driven robotic assistant acquiring human knowledge to improve haptic cooperation. Proceedings IEEE/RSJIROS. 2011 ;:
27. Miossec S, Kheddar A. Human motion in cooperative tasks: Moving object case study. Proceedings IEEE ROBIO. 2008 ;: 1509-1514
28. Murray R, Li Z, Sastry S A Mathematical Introduction to Robotic Manipulation. Boca Raton, FL: CRC Press ; 1994:
29. Nitzsche N, Hanebeck U, Schmidt G. Design issues of mobile haptic interfaces. Journal of Robotics Systems. 2003 ; 20: 549-556
30. Oguz O, Kucukyilmaz A, Sezgin T, Basdogan C. Haptic negotiation and role exchange for collaboration in virtual environments. Proceedings IEEE HAPTICS'10. 2010 ;: 371-378
31. Olfati-Saber R, Fax A, Murray R. Consensus and cooperation in networked multi-agent systems. Proceedings of the IEEE. 2007 ; 95: 215-233
32. Parker C, Croft E. Experimental investigation of human-robot cooperative carrying. Proceedings IEEE/RSJ IROS. 2011 ;: 3361-3366
33. Parker L. Distributed intelligence: overview of the field and its application in multi-robot systems. Journal of Physical Agents. 2008 ; 2: 5-14
34. Passenberg C, Groten R, Peer A, Buss M. Towards real-time haptic assistance adaptation optimizing task performance and human effort. Proceedings IEEE WHC. 2011 ;: 155-160
35. Prattichizzo D, Trinkle J Springer Handbook of Robotics. Siciliano B Khatib O, ed. Berlin: Springer ; 2008:
36. Reed K, Peshkin M. Physical collaboration of human-human and human-robot teams. IEEE Transactions on Haptics. 2008 ; 1: 108-120
37. Reed K, Peshkin M, Hartmann M, Colgate E, Patton J. Kinesthetic interaction. Proceedings IEEE ICORR. 2005 ;: 569-574
38. Reed K, Peshkin M, Hartmann M, Patton J, Vishton P, Grabowecky M. Haptic cooperation between people, and between people and machines. Proceedings IEEE/RSJ IROS. 2006 ;: 2109-2114
39. Rosenberg L. Virtual fixtures: Perceptual tools for telerobotic manipulation. Proceedings IEEE Virtual Reality Annual International Symposium ; 1993 ; 1993. 76.
40. Salleh A, Ikeura R, Hayakawa S, Sawai H. Cooperative object transfer: effect of observing different part of the object on the cooperative task smoothness. Journal of Biomechanical Science and Engineering. 2011 ; 6: 343-360
41. Schneider S, Cannon R. Object impedance control for cooperative manipulation: theory and experimental results. IEEE Transactions on Robotics and Automation. 1992 ; 8: 383-394
42. Stanczyk B, Buss M. Development of a telerobotic system for exploration of hazardous environments. Proceedings IEEE/RSJ IROS. 2004 ;: 2532-2537
43. Takubo T, Arai H, Hayashibara Y, Tanie K. Human-robot cooperative manipulation using a virtual nonholonomic constraint. The International Journal of Robotics Research. 2002 ; 21: 541-553
44. Thobbi A, Gu Y, Sheng W. Using human motion estimation for human-robot cooperative manipulation. Proceedings IEEE/RSJ IROS. 2011 ;: 2873-2878
45. Unterhinninghofen U, Schauß T, Buss M. Control of a mobile haptic interface. Proceedings IEEE ICRA. 2008 ;: 2085-2090
46. Wojtara T, Uchihara M, Murayama H, Shimoda S, Sakai S, Fujimoto H, et al. Human-robot collaboration in precise positioning of a three-dimensional object. Automatica. 2009 ; 45: 333-342