TY - GEN
T1 - Bi-Directional Human-Robot Handover Using a Novel Supernumerary Robotic System
AU - Du, Yuwei
AU - Zhang, Xin
AU - Leonori, Mattia
AU - Balatti, Pietro
AU - Jin, Jing
AU - Wang, Qiang
AU - Ajoudani, Arash
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Cooperative human-robot systems are the key technology to improve efficiency in agile production. In this work, a novel on-shoulder supernumerary robotic limb (SRL) is developed for human-robot collaboration. The SRL system is mainly composed of a 6-degree-of-freedom (DoF) lightweight robotic arm and a wearable and adjustable base, which allows different users to regulate the arm installation position to fit their physical dimensions and expand their workspace. As the SRL is close to the human head, nullspace-based collision avoidance is designed to achieve safe motion planning. Meanwhile, a Kalman filter is designed to actively predict human hand position and yield anticipatory motion control of our SRL in handover tasks. Furthermore, we conduct a bi-directional handover case study to verify the capability of the SRL system and the effectiveness of the proposed collaborative handover. The result shows that our control method can guarantee intuitive and natural handover behavior.
AB - Cooperative human-robot systems are the key technology to improve efficiency in agile production. In this work, a novel on-shoulder supernumerary robotic limb (SRL) is developed for human-robot collaboration. The SRL system is mainly composed of a 6-degree-of-freedom (DoF) lightweight robotic arm and a wearable and adjustable base, which allows different users to regulate the arm installation position to fit their physical dimensions and expand their workspace. As the SRL is close to the human head, nullspace-based collision avoidance is designed to achieve safe motion planning. Meanwhile, a Kalman filter is designed to actively predict human hand position and yield anticipatory motion control of our SRL in handover tasks. Furthermore, we conduct a bi-directional handover case study to verify the capability of the SRL system and the effectiveness of the proposed collaborative handover. The result shows that our control method can guarantee intuitive and natural handover behavior.
UR - https://www.scopus.com/pages/publications/85165497287
U2 - 10.1109/ARSO56563.2023.10187506
DO - 10.1109/ARSO56563.2023.10187506
M3 - 会议稿件
AN - SCOPUS:85165497287
T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
SP - 153
EP - 158
BT - 2023 IEEE International Conference on Advanced Robotics and Its Social Impacts, ARSO 2023
PB - IEEE Computer Society
T2 - 2023 IEEE International Conference on Advanced Robotics and Its Social Impacts, ARSO 2023
Y2 - 5 June 2023 through 7 June 2023
ER -