Human-robot cooperative object swinging

Philine Donner, Alexander Mortl, Sandra Hirche, Martin Buss
2013 2013 IEEE International Conference on Robotics and Automation  
This paper investigates goal-directed cooperative object swinging as a novel physical human-robot interaction scenario. We develop an energy-based control concept, which enables a robot to cooperate with a human in a goal-directed swing-up task. The robot can be assigned to be a leader or an actively contributing follower. We conduct a virtual reality experiment to compare effort sharing and performance of mixed human-human and human-robot dyads. The leader and the follower controllers yield similar results compared to their human standard.
doi:10.1109/icra.2013.6631192 dblp:conf/icra/DonnerMHB13 fatcat:6v4hkujs5zfjhcvlign7ug2ama