A Control Approach for Human-Robot Ergonomic Payload Lifting
Lorenzo Rapetti,Carlotta Sartore,Mohamed Elobaid,Yeshasvi Tirupachuri,Francesco Draicchio,Tomohiro Kawakami,Takahide Yoshiike,Daniele Pucci,Lorenzo Rapetti,Carlotta Sartore,Mohamed Elobaid,Yeshasvi Tirupachuri,Francesco Draicchio,Tomohiro Kawakami,Takahide Yoshiike,Daniele Pucci
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control approach for human-robot collaboration based on human monitoring through whole-body wearable sensors, and interaction modelling through coupled rigid-body dynamics....
