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Human-robot cooperative object swinging
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