• DocumentCode
    3416856
  • Title

    Adaptive behavior of an electromechanical arm robot in a case of physical interaction with a human being

  • Author

    Melnyk, A.A. ; Henaff, Patrick ; Razakarivony, Sebastien ; Borisenko, V.P. ; Gaussier, Philippe

  • Author_Institution
    Electr. Eng. Dept., Donetsk Nat. Tech. Univ., Donetsk, Ukraine
  • fYear
    2011
  • fDate
    3-7 July 2011
  • Firstpage
    689
  • Lastpage
    694
  • Abstract
    The aim of this paper is to consider the adaptation behavior of an electromechanical arm manipulator to the physical interaction of humans. Preliminary experiments to explore the possibility of adaptive interactions between an arm robot and a human without knowledge of the forces are investigated. A simple and efficient control adaptation of the system is implemented at the level of the electrical drive.
  • Keywords
    human-robot interaction; manipulators; adaptation behavior; control adaptation; electrical drive; electromechanical arm manipulator; electromechanical arm robot; human being; physical interaction; Force; Humans; Joints; Manipulators; Mathematical model; Service robots;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on
  • Conference_Location
    Budapest
  • ISSN
    2159-6247
  • Print_ISBN
    978-1-4577-0838-1
  • Type

    conf

  • DOI
    10.1109/AIM.2011.6027148
  • Filename
    6027148
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3416856