Title :
Online kinematics estimation for active human-robot manipulation of jointly held objects
Author :
Karayiannidis, Yiannis ; Smith, Colin ; Vina, Francisco E. ; Kragic, Danica
Author_Institution :
Comput. Vision & Active Perception Lab., R. Inst. of Technol. (KTH), Stockholm, Sweden
Abstract :
This paper introduces a method for estimating the constraints imposed by a human agent on a jointly manipulated object. These estimates can be used to infer knowledge of where the human is grasping an object, enabling the robot to plan trajectories for manipulating the object while subject to the constraints. We describe the method in detail, motivate its validity theoretically, and demonstrate its use in co-manipulation tasks with a real robot.
Keywords :
end effectors; human-robot interaction; manipulator kinematics; path planning; active human-robot manipulation; co-manipulation tasks; constraint estimation; human agent; jointly held objects; jointly manipulated object; object manipulation; online kinematic estimation; trajectory planning; Force; Grasping; Impedance; Joints; Kinematics; Robots; Torque;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
DOI :
10.1109/IROS.2013.6697059
