Title :
Human/robot interaction for human support system by using a mobile manipulator
Author :
Jia, Yunyi ; Wang, Hai ; Stürmer, Philipp ; Xi, Ning
Author_Institution :
Dept. of Electr. & Comput. Eng., Michigan State Univ., East Lansing, MI, USA
Abstract :
This paper shows how to use a mobile manipulator as a human support to assist human on accomplishing some complicated tasks. Dynamic model and control of the mobile manipulator are introduced. Two kinds of human support modes are designed by considering singularity, manipulability and safety of the whole system. Experimental results implemented on a mobile manipulator validate the proposed methods.
Keywords :
design engineering; human-robot interaction; manipulators; mobile robots; service robots; dynamic model; human support modes; human-robot interaction; manipulability; mobile manipulator; singularity; Force; Humans; Manipulator dynamics; Mobile communication; Robot kinematics;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
DOI :
10.1109/ROBIO.2010.5723325
