TY - GEN
T1 - Implementation and experimental validation of Dynamic Movement Primitives for object handover
AU - Prada, Miguel
AU - Remazeilles, Anthony
AU - Koene, Ansgar
AU - Endo, Satoshi
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - This article presents the implementation and experimental validation of a control system dedicated to human robot physical interaction during object handovers. Our control law defines the trajectory of the robotic arm towards a previously unknown handover location based on the Dynamic Movement Primitives formalism adapted for human robot object handover. The control law was deployed on a Kuka Light-Weight Arm equipped with the Azzurra anthropomorphic hand. We employed an industrial-like setting involving three different human postures for object handover in order to evaluate the performance and user experience of our control law and its generalizability. The evaluation was conducted over 1000 object handover trials between the human and robot partners, and the kinematic data and subjective experience were gathered for each trial. The outcomes of this evaluation validate the current implementation and guide the next steps towards more efficient and fluid human robot interaction.
AB - This article presents the implementation and experimental validation of a control system dedicated to human robot physical interaction during object handovers. Our control law defines the trajectory of the robotic arm towards a previously unknown handover location based on the Dynamic Movement Primitives formalism adapted for human robot object handover. The control law was deployed on a Kuka Light-Weight Arm equipped with the Azzurra anthropomorphic hand. We employed an industrial-like setting involving three different human postures for object handover in order to evaluate the performance and user experience of our control law and its generalizability. The evaluation was conducted over 1000 object handover trials between the human and robot partners, and the kinematic data and subjective experience were gathered for each trial. The outcomes of this evaluation validate the current implementation and guide the next steps towards more efficient and fluid human robot interaction.
UR - http://www.scopus.com/inward/record.url?scp=84911486066&partnerID=8YFLogxK
U2 - 10.1109/IROS.2014.6942851
DO - 10.1109/IROS.2014.6942851
M3 - Conference contribution
AN - SCOPUS:84911486066
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2146
EP - 2153
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -