Considering Human Behavior Uncertainty and Disagreements in Human–Robot Cooperative Manipulation

Medina, Josep R.; Lorenz, Tamara; Hirche, Sandra

doi:10.1007/978-3-319-40533-9_10

Cited by 11 publications

(14 citation statements)

References 45 publications

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“…As stated in [19], [25], [27], [26] the use of pseudoinverse methods as described above does not allow for a physically plausible wrench decomposition. We illustrate the issues by one dimensional (1D) examples.…”

Section: Force Decomposition In 1d For N =mentioning

confidence: 99%

“…Hence, this example illustrates a rationale for minimization of the cost function based on manipulation wrench (17). The wrench decomposition of [26] is equivalent to (22) for n = 2 and if forces do not produce torque, i.e. t f,i = 0.…”

Section: Wrench Decomposition As An Optimization Problemmentioning

confidence: 99%

“…t f,i = 0. In [26], the point mass decomposition is also used when force does produce torque, i.e. t f,i = 0, by inserting t o,i = t i + t f,i for t i in (22).…”

Section: Wrench Decomposition As An Optimization Problemmentioning

confidence: 99%

“…Above load shares were introduced in [26] for n = 2. The force load share α f,i is related to the weighting introduced in [33] for precise object positioning and to the assistance level in shared control for pHRI [34].…”

Section: A Load Sharementioning

confidence: 99%

“…An important step towards physically plausible wrench decomposition was recently taken by Schmidts et al in [25], by introducing force decomposition constraints motivated by mechanical work. The wrench decomposition solution for two effectors proposed in [26] satisfies the proposed constraints of [25]. Erhart and Hirche recently suggested a different decomposition approach for cooperative object manipulation that also includes the application of torque in [27] and is based on kinematic constraint violation of desired accelerations as presented in [28].…”

Section: Introductionmentioning

confidence: 99%

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Physically Plausible Wrench Decomposition for Multieffector Object Manipulation

2018

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When manipulating an object with multiple effectors such as in multi-digit grasping or multi-agent collaboration, forces and torques (i.e. wrench) applied to the object at different contact points generally do not fully contribute to the resultant object wrench, but partly compensate each other. The current literature, however, lacks a physically plausible decomposition of the applied wrench into its manipulation and internal components. We formulate the wrench decomposition as a convex optimization problem, minimizing the Euclidean norms of manipulation forces and torques. Physical plausibility in the optimization solution is ensured by constraining the internal and manipulation wrench by the applied wrench. We analyze specific cases of 3digit grasping and 2D beam manipulation, and show the applicability of our method to general object manipulation with multiple effectors. The wrench decomposition method is then extended to quantification of measures important in evaluating physical human-human and human-robot interaction tasks. We validate our approach via comparison to the state of the art in simulation and via application to a human-human object transport study.

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Section: Force Decomposition In 1d For N =mentioning

confidence: 99%

Section: Wrench Decomposition As An Optimization Problemmentioning

confidence: 99%

“…t f,i = 0. In [26], the point mass decomposition is also used when force does produce torque, i.e. t f,i = 0, by inserting t o,i = t i + t f,i for t i in (22).…”

Section: Wrench Decomposition As An Optimization Problemmentioning

confidence: 99%