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Title:

Human-Robot Cooperative Object Swinging

Document type:
Konferenzbeitrag
Author(s):
Donner, Philine; Mörtl, Alexander; Hirche, Sandra; Buss, Martin
Abstract:
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 y...     »
Book / Congress title:
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Organization:
IEEE
Date of congress:
May 6 - 10, 2013
Year:
2013
Pages:
4328-4334
Language:
en
Semester:
SS 13
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