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Evaluation of human-robot object co-manipulation under robot impedance control

Mujica, Martin and Benoussaad, Mourad and Fourquet, Jean-Yves Evaluation of human-robot object co-manipulation under robot impedance control. (2020) In: IEEE ICRA 2020- International Conference on Robotics and Automation, 31 May 2020 - 31 August 2020 (Paris, France).

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Official URL: https://doi.org/10.1109/ICRA40945.2020.9197329


The human-robot collaboration is a promising and challeng- ing field of robotics research. One of the main collaboration tasks is the object co-manipulation where the human and robot are in a continuous physical interaction and forces exerted must be handled. This involves some issues known in robotics as physical Human-Robot Interaction (pHRI), where human safety and interaction comfort are required. Moreover, a definition of interaction quality metrics would be relevant. In the current work, the assessment of Human-Robot object co-manipulation task was explored through the proposed metrics of interaction quality, based on human forces throughout the movement. This analysis is based on co-manipulation of objects with different dynamical properties (weight and inertia), with and without including these properties knowledge in the robot control law. Here, the human is a leader of task and the robot the follower without any information of the human trajectory and movement profile. For the robot control law, a well-known impedance control was applied on a 7-dof Kuka LBR iiwa 14 R820 robot. Results show that the consideration of object dynamical properties in the robot control law is crucial for a good and more comfortable interaction. Besides, human efforts are more significant with a higher no-considered weight, whereas it remains stable when these weights were considered.

Item Type:Conference or Workshop Item (Paper)
Additional Information:© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
HAL Id:hal-03141139
Audience (conference):International conference proceedings
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Institution:Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
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Deposited On:11 Feb 2021 16:20

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