Active human-mobile manipulator cooperation through intention recognition

Abstract

A human-mobile manipulator cooperation module is designed to support a target task consisting of the transportation of a rigid object between a mobile manipulator and a master human worker. Our approach introduces an intention recognition capability in the robot, based on the search for ,spectral patterns in the force signal measured at the arm gripper. The mobile manipulator takes advantage of this capability by generating its own motion plans in order to collaborate in the execution of the task. This has been designated as active cooper at ion.

Progress and prospects of the human–robot collaboration

“…Usually not wearable/portable, May limit the human natural workspace, May deteriorate the overall system's stability [Horiguchi et al, 2000] (teleoperation), [Yang et al, 2016] (variable stiffness control), [Fernandez et al, 2001] (active trajectory re-generation)…”

Robot Arm-Child Interactions: A Novel Application Using Bio-Inspired Motion Control

“…Here the workspace of the cooperation is increased at the expense of the added complexity introduced by the navigation aspects that need to be considered. Accordingly, humans cooperate with autonomous mobile manipulators through intention recognition [e.g., Fernandez, 2001]. Herein mobile-manipulators refer to ground vehicles with robot arms (Fig.…”

Human-robot cooperative object swinging

“…Starting out with impedance based controllers [1], more sophisticated approaches have evolved that reduce the human effort in tasks like cooperative load transport [2]. Robots are no longer just passive helpers but active partners that understand human intentions [3], [4] and actively contribute to the task [5], [6]. Whereas most of the existing works on cooperative pHRI focus on quasistatic and pure translational object manipulation, only little attention has been paid to dynamic manipulation, such as swing motion.…”