Active human-mobile manipulator cooperation through intention recognition

Author

Fernandez, V. ; Balaguer, C. ; Blanco, D. ; Salichs, M.A.

Author_Institution

Div. of Syst. Eng. & Autom., Univ. Carlos III of Madrid, Spain

Volume

3

fYear

2001

fDate

2001

Firstpage

2668

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 cooperation.

Keywords

force measurement; hidden Markov models; manipulators; mobile robots; path planning; pattern recognition; signal processing; spectral analysis; torque measurement; active human-mobile manipulator cooperation; arm gripper; force signal; intention recognition; master human worker; motion plans; rigid object; spectral patterns; Force control; Force measurement; Grippers; Hidden Markov models; Humans; Manipulators; Motion control; Robot kinematics; Systems engineering and theory; Transportation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933025

Filename

933025