Human-Robot Collaboration based on Dynamic Compensation: from Micro-manipulation to Macro-manipulation
Human-Robot Collaboration based on Dynamic Compensation: from Micro-manipulation to Macro-manipulation
复制标题
基于动态补偿的人机协作：从微观操控到宏观操控
DOI：
10.1109/roman.2018.8525761
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Y. Yamakawa
中科院分区：
文献类型：
--
作者：
Shouren Huang;M. Ishikawa;Y. Yamakawa
这段视频介绍了我们最新的基于动态补偿框架的人-机器人协作研究，目的是将人类的认知能力和机器人的精确运动能力最佳地结合起来。在动态补偿方法下，人类操作员只关注认知的全局运动，而不太关心精度。基于高速视觉反馈的动态补偿机器人模块实现了主动的局部精细运动。实现了从微观操作到宏观操作的应用场景。
This video introduces our recent studies on human-robot collaboration based on dynamic compensation framework with the aim of optimally combining the cognitive capabilities of human and accurate motion capabilities of robot. Under the dynamic compensation approach, human operator is for cognitive global-motion without caring much about accuracy. Fine local-motion in an active manner is realized by a dynamic compensation robotic module based on high-speed visual feedback. Application scenarios from micro-manipulation to macro-manipulation are implemented.