Publication: A new approach on human-robot collaboration with humanoid robot RH-2
Loading...
Identifiers
Publication date
2011-10
Defense date
Advisors
Tutors
Journal Title
Journal ISSN
Volume Title
Publisher
Cambridge University Press
Impact
Export
Abstract
This paper presents a novel control architecture for humanoid robot RH-2. The main objective is that a robot can perform different tasks in collaboration with humans in working environments. In order to achieve this goal, two control loops have to be defined. The outer loop, called collaborative control loop, is devoted to the generation of stable motion patterns for a robot, given a specific manipulation task. The inner loop, called posture stability control loop, acts to guarantee the stability of humanoid for different poses determined by motion patterns. A case study is presented in order to show the effectiveness of the proposed control architecture.
Description
This paper was originally submitted under the auspices of the CLAWAR Association. It is an extension of work presented at CLAWAR 2009: The 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Istanbul, Turkey.
Keywords
Humanoid robot RH-2, Human-robot collaboration, Control architecture, Kinematic model, Dynamic model
Bibliographic citation
Robotica, October 2011, Vol. 29, Issue 6, pp. 949-957