Human interaction with a service robot: mobile-manipulator handing over an object to a human
Human interaction with a service robot: mobile-manipulator handing over an object to a human
复制标题
人类与服务机器人的交互：移动机械手将物体移交给人类
DOI：
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发表时间：
1997
期刊：
影响因子：
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通讯作者：
K. Tanie
中科院分区：
文献类型：
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作者：
A. Agah;K. Tanie
研究了人与服务机器人通过交接任务进行交互的问题。控制问题的解决服务移动机械手提供和移交对象的人。竞争架构控制器的设计和实现允许以安全的方式完成这样的任务，因为它需要机器人和人类的共存和密切互动。一个现实的计算机模拟的实验结果，一个75公斤的人收到一个对象从移动的机械手与三个自由度。机器人能够将物体交给人，并通过手臂运动和基座运动补偿人的意外运动。
The interaction of a human and a service robot through the hand-over task is studied in this paper. Control issues are addressed for a service mobile-manipulator delivering and handing over objects to a human. The Contention Architecture controller is designed and implemented allowing for such task to be accomplished in a safe manner, as it requires coexistence and close interaction of the robot and the human. Experimental results of a realistic computer simulation are presented where a 75 kilogram human receives an object from a mobile manipulator with three degrees of freedom. The robot is capable of handing over the object to human, and compensating for unexpected movements of the human through its arm motion and base movement.