Human-robot cooperative object swinging

Abstract

Abstract-This paper investigates goal-directed cooperative object swinging as a novel physical human-robot interaction scenario. We develop an energy-based control concept, which enables a robot to cooperate with a human in a goal-directed swing-up task. The robot can be assigned to be a leader or an actively contributing follower. We conduct a virtual reality experiment to compare effort sharing and performance of mixed human-human and human-robot dyads. The leader and the follower controllers yield similar results compared to their human standard.

Energy control for complex pendulums based on tracking of online computed force trajectories

“…The human interacts with the virtual reality through a haptic device. The setup is explained in detail in [17]. The trapezoidal pendulum is identical to that of the simulation based experiment of this section.…”

“…In our previous works [17], [18], human-robot object swinging is motivated by the extension of the manipulation capabilities with respect to bulky, flexible objects. Our exemplary task is cooperative swinging of a sports mat in order to lift it onto a trolley.…”

“…Our exemplary task is cooperative swinging of a sports mat in order to lift it onto a trolley. As a first step towards human-robot dynamic object manipulation, the swing-up of pendulumlike objects, in [17] a v-shaped pendulum and in [18] a trapezoidal pendulum, is investigated.…”

Human-robot cooperative swinging of complex pendulum-like objects

“…A virtual reality experiment showed that the robotic leader and follower yield similar results compared to their human counterparts. In this paper, the control concept of [8] is extended to allow cooperative swing-up of more complex pendulum-like objects that can oscillate in several modes (see Fig. 1(c)).…”

“…Figure 1 shows an illustration of flexible object swinging (b) as a combination of two extremes: an oscillating entity formed by the partners' arms and a rigid object (a) and a pendulum-like object that can oscillate itself (c). In [8], we investigated goal-directed cooperative swinging of a simple v-shaped pendulum with a point mass in contrast to the cylindrical mass displayed in Fig. 1(c).…”