4020934
doi
10.5281/zenodo.4020934
oai:zenodo.org:4020934
user-h2020-sophia
user-eu
Fusaro, Fabio
Istituto Italiano di Tecnologia
Balatti, Pietro
Istituto Italiano di Tecnologia
Kim, Wansoo
Istituto Italiano di Tecnologia
Ajoudani, Arash
Istituto Italiano di Tecnologia
A Visuo-Haptic Guidance Interface for Mobile Collaborative Robotic Assistant (MOCA)
Lamon, Edoardo
Istituto Italiano di Tecnologia
info:eu-repo/semantics/openAccess
Creative Commons Attribution 4.0 International
https://creativecommons.org/licenses/by/4.0/legalcode
<p>In this work, we propose a novel visuo-haptic guidance interface to enable mobile collaborative robots to follow human instructions in a way understandable by non-experts. The interface is composed of a haptic admittance module and a human visual tracking module. The haptic guidance enables an individual to guide the robot end-effector in the workspace to reach and grasp arbitrary items. The visual interface, on the other hand, uses a real-time human tracking system and enables autonomous and continuous navigation of the mobile robot towards the human, with the ability to avoid static and dynamic obstacles along its path. To ensure a safer human-robot interaction, the visual tracking goal is set outside of a certain area around the human body, entering which will switch robot behaviour to the haptic mode. The execution of the two modes is achieved by two different controllers, the mobile base admittance controller for the haptic guidance and the robot's whole-body impedance controller, that enables physically coupled and controllable locomotion and manipulation. The proposed interface is validated experimentally, where a human-guided robot performs the loading and transportation of a heavy object in a cluttered workspace, illustrating the potential of the proposed Follow-Me interface in removing the external loading from the human body in this type of repetitive industrial tasks. </p>
Zenodo
2020-10-31
info:eu-repo/semantics/conferencePaper
4020933
user-h2020-sophia
user-eu
award_title=Socio-physical Interaction Skills for Cooperative Human-Robot Systems in Agile Production; award_number=871237; award_identifiers_scheme=url; award_identifiers_identifier=https://cordis.europa.eu/projects/871237; funder_id=00k4n6c32; funder_name=European Commission;
1599699565.424201
28186070
md5:99d03d297fe4c8c3b5dabea0429e0db1
https://zenodo.org/records/4020934/files/A Visuo-Haptic Guidance Interface for Mobile Collaborative Robotic Assistant (MOCA).pdf
public
10.5281/zenodo.4020933
isVersionOf
doi