Path Recognition and Virtual Guides Design for Path Following Based on Human-Robot Collaboration

被引：7

作者：

Song, Chenjian ^{[1
]}

Xia, Jingkang ^{[1
]}

Huang, Deqing ^{[1
]}

Ma, Lei ^{[1
]}

Li, Yanan ^{[2
]}

机构：

[1] Southwest Jiaotong Univ, Sch Elect Engn, Chengdu 611756, Peoples R China

[2] Univ Sussex, Dept Engn & Design, Brighton BN1 9RH, England

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2023年 / 70卷 / 10期

基金：

中国国家自然科学基金;

关键词：

Robots; Task analysis; Robot kinematics; Robot sensing systems; Manipulator dynamics; Support vector machines; Laser beam cutting; Admittance control; human-robot collaboration (HRC); least squares (LS); support vector machine (SVM); virtual guides (VGs); GENERATION;

D O I：

10.1109/TIE.2022.3219102

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article presents a path recognition and virtual guides (VGs) design method for a task of path following based on human-robot collaboration. First, a support vector machine combined with least squares is developed to recognize the desired path based on human guidance. Second, VGs are designed based on the admittance control for human-robot collaborative path following, which combine the human's decision-making with the robot's accurate execution capability. The effectiveness and the robustness of the proposed method are verified on a 7-DOF Sawyer robot equipped with a force/torque sensor.

引用

页码：10374 / 10384

页数：11

共 50 条

[31] A Path to Industry 5.0 Digital Twins for Human-Robot Collaboration by Bridging NEP+ and ROS
Coronado, Enrique
Ueshiba, Toshio
Ramirez-Alpizar, Ixchel G.
ROBOTICS, 2024, 13 (02)
[32] From Industry 4.0 to Construction 5.0: Exploring the Path towards Human-Robot Collaboration in Construction
Marinelli, Marina
SYSTEMS, 2023, 11 (03):
[33] A Roadmap for the Future Design of Human-Robot Collaboration
Buxbaum, Hans-Juergen
Sen, Sumona
Haeusler, Ruth
IFAC PAPERSONLINE, 2020, 53 (02): : 10196 - 10201
[34] A Human-Robot Collaboration Framework Based on Human Collaboration Demonstration and Robot Learning
Peng, Xiang
Jiang, Jingang
Xia, Zeyang
Xiong, Jing
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2024, PT VII, 2025, 15207 : 286 - 299
[35] Theses on the Future Design of Human-Robot Collaboration
Buxbaum, Hans-Juergen
Sen, Sumona
Hausler, Ruth
HUMAN-COMPUTER INTERACTION. MULTIMODAL AND NATURAL INTERACTION, HCI 2020, PT II, 2020, 12182 : 560 - 579
[36] A Physics-Based Virtual Reality Haptic System Design and Evaluation by Simulating Human-Robot Collaboration
Mubarrat, Syed T.
Fernandes, Antonio
Chowdhury, Suman K.
IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS, 2024, 54 (04) : 375 - 384
[37] Visual Diver Recognition for Underwater Human-Robot Collaboration
Xia, Youya
Sattar, Junaed
2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2019, : 6839 - 6845
[38] Human-Robot Shared Control for Path Generation and Execution
Belaidi, Hadjira
Hentout, Abdelfetah
Bentarzi, Hamid
INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS, 2019, 11 (04) : 609 - 620
[39] Optimal collaboration in human-robot target recognition systems
Bechar, Avital
Edan, Yael
Meyer, Joachim
2006 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-6, PROCEEDINGS, 2006, : 4243 - +
[40] Prediction-Based Path Planning for Safe and Efficient Human-Robot Collaboration in Construction via Deep Reinforcement Learning
Cai, Jiannan
Du, Ao
Liang, Xiaoyun
Li, Shuai
JOURNAL OF COMPUTING IN CIVIL ENGINEERING, 2023, 37 (01)

← 1 2 3 4 5 →