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Control of bidirectional physical human–robot interaction based on the human intention

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Abstract

This paper presents a control strategy for human–robot interaction with physical contact, recognizing the human intention to control the movement of a non-holonomic mobile robot. The human intention is modeled by mechanical impedance, sensing the human-desired force intensity and the human-desired force direction to guide the robot through unstructured environments. Robot dynamics is included to improve the interaction performance. Stability analysis of the proposed control system is proved by using Lyapunov theory. Real experiments of the human–robot interaction show the performance of the proposed controllers.

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Acknowledgments

Funding was provided by Universidad Nacional de San Juan (AR), Consejo Nacional de Investigaciones Científicas y Técnicas, Fondo para la Investigación Científica y Tecnológica.

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Authors and Affiliations

  1. Escuela Politécnica Nacional, Ladrón de Guevara E11-253, Quito, Ecuador

    Paulo Leica

  2. Instituto de Automática, Universidad Nacional de San Juan-Consejo Nacional de Investigaciones Científicas y Técnicas, Av. San Martin Oeste 1109, J5400ARL, San Juan, Argentina

    Flavio Roberti, Matías Monllor, Juan M. Toibero & Ricardo Carelli

Authors
  1. Paulo Leica
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  2. Flavio Roberti
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  3. Matías Monllor
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  4. Juan M. Toibero
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  5. Ricardo Carelli
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Correspondence to Flavio Roberti.

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Leica, P., Roberti, F., Monllor, M. et al. Control of bidirectional physical human–robot interaction based on the human intention. Intel Serv Robotics 10, 31–40 (2017). https://doi.org/10.1007/s11370-016-0207-4

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  • DOI: https://doi.org/10.1007/s11370-016-0207-4

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