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Author Papageorgiou, D. ♦ Doulgeri, Z.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2015
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Robots ♦ Oscillators ♦ Force ♦ Limit-cycles ♦ Generators ♦ Synchronization ♦ Admittance
Abstract This work proposes a kinematic control method for human-robot handshake motions achieving fast motion synchronization given a preset internal robot handshake motion and a compliance level that reflects the robot's level of passiveness. The proposed method combines a non-linear dynamic system having an attractive limit cycle with an admittance controller and an adaptation mechanism so that interaction forces are minimized and a consensus oscillation is achieved between the engaging participants. The proposed method is validated by experimenting with a KUKA LWR4+ 7dof arm under various scenarios.
Description Author affiliation: Dept. of Electr. & Comput. Eng., Aristotle Univ. of Thessaloniki, Thessaloniki, Greece (Papageorgiou, D.; Doulgeri, Z.)
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2015-05-26
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781479969234
Size (in Bytes) 2.79 MB
Page Count 6
Starting Page 5622
Ending Page 5627


Source: IEEE Xplore Digital Library