Human-robot cooperative rope turning - an example of mechanical coordination through rhythm entrainment
Human-robot cooperative rope turning - an example of mechanical coordination through rhythm entrainment
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DOI：
10.1163/156855303321125631
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发表时间：
2003-01-01
影响因子：
2
通讯作者：
Arai, T
中科院分区：
文献类型：
--
作者：
Maeda, Y;Takahashi, A;Arai, T
在本文中，我们处理人与机器人的机械协调通过节奏夹带。提出了一种实现人-机械手协同翻绳的方法。用于绳索转动的机械手臂的旋转运动可以由臂和绳索之间的频率和相位差来指定。通过使用锁相环（PLL）的节律夹带来实时确定频率。相位差与局部相互作用的量有关，即从臂到绳索的能量传递。因此，它被控制以实现所需的能量传递，这是从人的演示估计。在实验中，机械手可以成功地使其运动适应人类伙伴的运动。
In this paper, we deal with human-robot mechanical coordination through rhythm entrainment. We present a method of realizing cooperative rope turning by a man and a manipulator. The rotating motion of the manipulator arm for rope turning can be specified by the frequency and phase difference between the arm and the rope. The frequency is determined in real-time by rhythm entrainment using a phase-locked loop (PLL). The phase difference is related to the quantity of local interaction, i.e. energy transfer from the arm to the rope. Therefore it is controlled to realize the desired energy transfer, which is estimated from human demonstration. In the experiment the manipulator can successfully adapt its motion to that of the human partner.