Human-Robot Collaborative Carrying of Objects with Unknown Deformation Characteristics
Doganay Sirintuna,Alberto Giammarino,Arash Ajoudani,Doganay Sirintuna,Alberto Giammarino,Arash Ajoudani
In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the object, and the kinematic information of the human body obtained from a motion capture system to create reactive whole-body motions on a mobile collaborative robot. I...
