ConCodeIt! A Comparison of Concurrency Interfaces in Block-Based Visual Robot Programming

Author / Creator

RO-MAN 2021 (2021)

Conferences

RO-MAN 2021 Panel 5 - HuRoCops: Advanced human-robot cooperative and collaborative schemes in large-scale industrial manufacturing environments (2021)

Available as

Online

Summary

In this work, the problem of cooperative human-robot manipulation of an object with large inertia is addressed. A variable admittance control scheme is proposed, where the damping is adjusted based...

In this work, the problem of cooperative human-robot manipulation of an object with large inertia is addressed. A variable admittance control scheme is proposed, where the damping is adjusted based on the power transmitted from the human to the robot. The aim is to minimize the energy injected by the human while also allowing her/him to have control over the task. Evaluation via human-in-the-loop simulations and comparison with a generic variable damping state-of-the-art method is performed.

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