Title :
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
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;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933025
