Kim, Wansoo
Balatti, Pietro
Lamon, Edoardo
Ajoudani, Arash
2020-06-01
<p>The objective of this paper is to create a new collaborative robotic system that subsumes the advantages of mobile manipulators and supernumerary limbs. By exploiting the reconfiguration potential of a MObile Collaborative robot Assistant (MOCA), we create a collaborative robot that can function autonomously, in close proximity to humans, or be physically coupled to the human counterpart as a supernumerary body (MOCA-MAN). Through an admittance interface and a hand gesture recognition system, the controller can give higher priority to the mobile base (e.g., for long distance co-carrying tasks) or the arm movements (e.g., for manipulating tools), when performing conjoined actions. <br>
The resulting system has a high potential not only to reduce waste associated with the equipment waiting and setup times, but also to mitigate the human effort when performing heavy or prolonged manipulation tasks.<br>
The performance of the proposed system, i.e., MOCA-MAN, is evaluated by multiple subjects in two different use-case scenarios, which require large mobility or close-proximity manipulation.</p>
https://doi.org/10.5281/zenodo.3819987
oai:zenodo.org:3819987
Zenodo
https://zenodo.org/communities/ergolean
https://zenodo.org/communities/eu
https://doi.org/10.5281/zenodo.3819986
info:eu-repo/semantics/openAccess
Creative Commons Attribution 4.0 International
https://creativecommons.org/licenses/by/4.0/legalcode
ICRA, IEEE International Conference on Robotics and Automation, 2020
MOCA-MAN: A MObile and reconfigurable Collaborative Robot Assistant for conjoined huMAN-robot actions
info:eu-repo/semantics/conferencePaper