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Intelligent Service Robotics
Published in: Intelligent Service Robotics 1/2017

24-09-2016 | Original Research Paper

Control of bidirectional physical human–robot interaction based on the human intention

Authors: Paulo Leica, Flavio Roberti, Matías Monllor, Juan M. Toibero, Ricardo Carelli

Published in: Intelligent Service Robotics | Issue 1/2017

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Abstract

This paper presents a control strategy for human–robot interaction with physical contact, recognizing the human intention to control the movement of a non-holonomic mobile robot. The human intention is modeled by mechanical impedance, sensing the human-desired force intensity and the human-desired force direction to guide the robot through unstructured environments. Robot dynamics is included to improve the interaction performance. Stability analysis of the proposed control system is proved by using Lyapunov theory. Real experiments of the human–robot interaction show the performance of the proposed controllers.
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Metadata
Title
Control of bidirectional physical human–robot interaction based on the human intention
Authors
Paulo Leica
Flavio Roberti
Matías Monllor
Juan M. Toibero
Ricardo Carelli
Publication date
24-09-2016
Publisher
Springer Berlin Heidelberg
Published in
Intelligent Service Robotics / Issue 1/2017
Print ISSN: 1861-2776
Electronic ISSN: 1861-2784
DOI
https://doi.org/10.1007/s11370-016-0207-4

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