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Controller design for human-robot interaction

Eric Meisner, Volkan Isler, Jeff Trinkle
2007 Autonomous Robots  
In this paper, we address the problem of designing robot controllers which minimize the stress caused by the robot while performing a given task.  ...  Many robotics tasks require a robot to share the same workspace with humans.  ...  Conclusions In this paper, we demonstrated the use of a galvanic skin response sensor as a tool for designing controllers for human robot interaction.  ... 
doi:10.1007/s10514-007-9054-7 fatcat:x4zgfj6c65fongqe6gickmzq6a

Human-preference-based control design: Adaptive robot admittance control for physical human-robot interaction

Vladislav Okunev, Thomas Nierhoff, Sandra Hirche
2012 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication  
Aiming at the application in physical human-robot interaction, this paper presents a novel adaptive admittance control scheme for robotic manipulators.  ...  Experiments conducted with ten human participants show superiority over the non-adaptive admittance control scheme.  ...  INTRODUCTION Anthropomorphic robots designed to interact with humans in unknown environments are an active field of research.  ... 
doi:10.1109/roman.2012.6343792 dblp:conf/ro-man/OkunevNH12 fatcat:yt7wiawkrfchfhk57dwc6zmiau

Lean Human-Robot Interaction Design for the Material Supply Process

Marco Bonini, Augusto Urru, Wolfgang Echelmeyer
2019 Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics  
In this paper, we use the structured approach of the Quality Interaction Function Deployment to analyse the process of supply of assembly lines, seeking the most efficient combination of automation and  ...  On the basis of this scenario, in the next section, the design of a lean Human-Robot Interaction for the material supply process will be presented.  ...  Figure 3 : 3 Lean Human-Robot Interaction concept for the material supply process. Table 1 : 1 Functionalities and technologies. Table 2 : 2 Scenarios and functionalities allocation.  ... 
doi:10.5220/0007966705230529 dblp:conf/icinco/BoniniUE19 fatcat:fufxcqyw4jegffi7juo6ysd7km

Interactive design of expressive locomotion controllers for humanoid robots

Sebastien Dalibard, Daniel Thalmann, Nadia Magnenat-Thalmann
2012 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication  
This paper presents an interactive dynamic controller used to generate locomotion patterns for humanoid robots.  ...  The purpose of this work is to provide animators and artists easy and intuitive tools to design expressive motions for humanoid robots.  ...  This paper deals with the design and use of operational-space controllers to design expressive locomotion patterns for humanoid robots.  ... 
doi:10.1109/roman.2012.6343790 dblp:conf/ro-man/DalibardTM12 fatcat:gtbtkl5fwjfhpoidt35ryy36la

Design of a Neural Controller for Walking of a 5-Link Planar Biped Robot via Optimization [chapter]

Nasser Sadati, Guy A., Kaveh Akbari
2010 Human-Robot Interaction  
Source: Human-Robot Interaction, Book edited by: Daisuke Chugo, ISBN 978-953-307-051-3, pp. 288, February 2010, INTECH, Croatia, downloaded from SCIYO.COM www.intechopen.com Human-Robot Interaction 268  ...  In Section 5, for tuning the weights of the CPG network, the problem of walking control of the biped robot is defined as an optimization problem.  ...  We tune the , tsr h k www.intechopen.comHuman-Robot Interaction www.intechopen.comDesign of a Neural Controller for Walking of a 5-Link Planar Biped Robot via Optimization : 50 gear  ... 
doi:10.5772/8144 fatcat:ez75hveu2nczlp7dety2qwpsfu

User-Centered Design of an Attitude Aware Controller for Ground Reconnaissance Robots

Amber Michelle Walker, David P. Miller, Chen Ling
2015 Journal of Human-Robot Interaction  
While considerable work has been done with robots visually observing humans to interpret their gestures, we propose a simpler, more field-appropriate system that allows robot operators to use their natural  ...  We present details of the attitude-based control software, as well as the design heuristics resulting from its iterative build-test-rebuild development.  ...  Contributions The outcome of this research contributes the following products to the greater body of knowledge surrounding human-robot interaction and multi-modal control.  ... 
doi:10.5898/jhri.4.1.walker fatcat:uzrxsg2jrjh6leq3gmbnqd7b2i

DESIGN, CONTROL AND EVALUATION OF A WHOLE-SENSITIVE ROBOT ARM FOR PHYSICAL HUMAN-ROBOT INTERACTION

DZMITRY TSETSERUKOU, NAOKI KAWAKAMI, SUSUMU TACHI
2009 International Journal of Humanoid Robotics  
The paper focuses on design and control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment  ...  The experimental results of joint admittance control revealed the feasibility of the proposed approach to provide safe interaction of entire structure of robot arm with a person.  ...  Acknowledgments The research was supported in part by a Japan Society for the Promotion of Science (JSPS) Postdoctoral Fellowship for Foreign Scholars.  ... 
doi:10.1142/s0219843609001899 fatcat:nc32zmrdmne3ldbkwslzgmdepa

A Computational Multi-Criteria Optimization Approach to Controller Design for Physical Human-Robot Interaction [article]

Yusuf Aydin and Ozan Tokatli and Volkan Patoglu and Cagatay Basdogan
2020 arXiv   pre-print
Physical human-robot interaction (pHRI) integrates the benefits of human operator and a collaborative robot in tasks involving physical interaction, with the aim of increasing the task performance.  ...  The proposed framework not only leads to the design of an optimal controller, but also enables a fair comparison among different interaction controllers.  ...  Kucukyilmaz for her valuable comments. Moreover, Y.A. thanks to A. Aytekin, O. Caldiran, E.S. Emgin, G. Serhat, and C. Yesil for fruitful discussions during the study.  ... 
arXiv:2006.11218v1 fatcat:xm6padbxwbafbaxjhd4jrsts6a

Design of a haptic joystick for shared robot control

Daniel J. Brooks, Holly A. Yanco
2012 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction - HRI '12  
However, for many current mobile robotic systems, teleoperated control is still largely favored, in part due to a human operator's sophisticated ability to reason about unstructured environments [6] .  ...  INTRODUCTION Autonomous mobile robots are often equipped with sophisticated sensors designed to provide the system with a model of its surrounding environment.  ... 
doi:10.1145/2157689.2157711 dblp:conf/hri/BrooksY12 fatcat:ncsmtr7hjnfv3kemmz5ff7wuqq

Surface Electromyography (sEMG)-based Intention Recognition and Control Design for Human–Robot Interaction in Uncertain Environment

Junbao Gan, Ning Wang, Lei Zuo
2021 Sensors and materials  
This will facilitate the selection of the most appropriate interaction mode and level during HRI for the robot.  ...  An important direction of human-robot interaction (HRI) is making robots respond to complex and dexterous tasks intelligently.  ...  Intention Recognition and Controller Design Human intention recognition based on sEMG signal sEMG is an important feature for the non-invasive recognition of muscle activity.  ... 
doi:10.18494/sam.2021.3230 fatcat:syclckhtgrcu7lcskhcu54wwmi

Design and Control of a Discrete Variable Stiffness Actuator with Instant Stiffness Switch for Safe Human-Robot Interaction

Irfan Hussain, Ahmad Albalasie, Mohammad I. Awad, Khaled Tamizi, Zhenwei Niu, Lakmal Seneviratne, Dongming Gan
2021 IEEE Access  
Variable Stiffness Actuators (VSA) have been proposed as an alternative actuation system for manipulators that are utilized for safe physical Human-Robot Interaction (pHRI).  ...  In this paper, we present a novel Discrete Variable Stiffness Actuator (DVSA) to be used in a compliant robotic manipulator for safe physical Human-Robot Interaction (pHRI).  ...  This shows potential advantage of DVSAs for real-time human robot interaction changes.  ... 
doi:10.1109/access.2021.3105587 fatcat:22b56hzklvcmxm72u5jjnzsjum

Design of Kinect-based human robot interaction systems for a RoboCup middle size league soccer robot

Zhenli Lu, Kai Tian, Huigang Xu, Jun Liu, Limin Mao, Shujun Liu, Changkao Shan, Bin Li
2015 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)  
doi:10.1109/cyber.2015.7288231 fatcat:xfwn3mblz5f57djex2vas5l27q

Control of mobile robot for remote medical examination: Design concepts and users' feedback from experimental studies

Krzysztof Arent, Janusz Jakubiak, Michal Drwiega, Mateusz Cholewinski, Gerald Stollnberger, Manuel Giuliani, Manfred Tscheligi, Dorota Szczesniak-Stanczyk, Marcin Janowski, Wojciech Brzozowski, Andrzej Wysokinski
2016 2016 9th International Conference on Human System Interactions (HSI)  
2016) Control of mobile robot for remote medical examination: Design concepts and users' feedback from experimental studies.  ...  We have it in mind when designing experimental study for evaluation of control techniques intended for moving the ReMeDi robot. A.  ...  They should interact with Carol that is a prototype of the mobile base of the ReMeDi robot. For this reason two studies were designed: Assistant -Robot Preparation Study and Patient -Prototype Study.  ... 
doi:10.1109/hsi.2016.7529612 dblp:conf/hsi/ArentJDCSGTSJBW16 fatcat:eek732cvkngb7dk5dwowggci4i

Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction

G. Tonietti, R. Schiavi, A. Bicchi
Proceedings of the 2005 IEEE International Conference on Robotics and Automation  
This paper is concerned with the design and control of actuators for machines and robots physically interacting with humans, implementing criteria established in our previous work [1] on optimal mechanical-control  ...  co-design for intrinsically safe, yet performant machines.  ...  INTRODUCTION Machines that interact with humans must be safe against all possible accidents.  ... 
doi:10.1109/robot.2005.1570172 dblp:conf/icra/ToniettiSB05 fatcat:ehz6qno2krg77mgu67gyiblj74

Design of Rightmost Eigenvalues Using Distributed Delay

Feng Wei, Gábor Orosz, A. Galip Ulsoy
2014 Volume 3: Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy   unpublished
We present simple examples for both approaches. Copyright c ⃝ 2014 by ASME M Re Λ Im Λ  ...  This paper considers the problem of designing the rightmost eigenvalues of linear scalar distributed delay systems using two different but complementary methods: generalized stability charts and matrix  ...  The latter case is also relevant in that unstable systems can exhibit high performance when operated by skilled operators or are regulated by well-designed controllers.  ... 
doi:10.1115/dscc2014-6149 fatcat:ib2kc6haf5dzrhuqxbasjcj5ce
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