Parallel Guiding Virtual Fixtures: Control and Stability - ENSTA Paris - École nationale supérieure de techniques avancées Paris Access content directly
Conference Papers Year : 2015

Parallel Guiding Virtual Fixtures: Control and Stability

Abstract

Guiding virtual fixtures have been proposed as a method for human-robot co-manipulation. They constrain the motion of the robot to task-relevant trajectories, which enables the human to execute the task more efficiently, accurately and/or ergonomically. When sequences of different tasks must be solved, multiple guiding virtual fixtures are required, and the appropriate guide for the current task must be detected automatically. To this end, we propose a novel control scheme for multiple guiding virtual fixtures that are active in parallel. Furthermore, we determine under which conditions using multiple fixtures is stable. Finally, we perform a pilot study for a real-world application with a humanoid robot.
Fichier principal
Vignette du fichier
15-MSC.pdf (834.52 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01250101 , version 1 (05-01-2016)

Identifiers

Cite

Gennaro Raiola, Pedro Rodriguez-Ayerbe, Xavier Lamy, Sami Tliba, Freek Stulp. Parallel Guiding Virtual Fixtures: Control and Stability. ISIC 2015 - IEEE International Symposium on Intelligent Control, Sep 2015, Sydney, Australia. pp.53 - 58 ⟨10.1109/ISIC.2015.7307279⟩. ⟨hal-01250101⟩
260 View
363 Download

Altmetric

Share

Gmail Facebook Twitter LinkedIn More