A Conceptual Approach of Passive Human-Intention-Orientated Variable Admittance Control using Power Envelope
Jingdong Chen,Paul I. Ro,Jingdong Chen,Paul I. Ro
Two main challenges that need to be addressed in physical human-robot interaction (pHRI) are efficient recognition of human intention and interaction safety. In this paper, a general human intention framework was summarized, firstly, according to the robot's roles: a passive follower and a compliant leader. Secondly, we proposed variable admittance control models governed by human intentions. Powe...
