TY - GEN
T1 - Holding hands - Guiding humanoid walking using sensorless force control
AU - Dąbrowski, Jacek
AU - Kondaxakis, Polychronis
AU - Kyrki, Ville
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/15
Y1 - 2014/10/15
N2 - This paper presents a physical human-robot interaction (pHRI) interface, which enables the user to control a walking humanoid robot through physical contact. A human operator guides the robot in parent-child-like behavior by exerting force onto the hand of the robot. In contrast to a conventional approach of pHRI in which force/torque measurements are applied, the proposed solution is based on sensorless force control. Furthermore, we demonstrate an extension to the generic interface by implementing a number of gait control algorithms. This paper also evaluates user-acceptable robot responses while guiding a humanoid robot walking. User opinion on the presented control solution is evaluated through usability testing conducted among prospective users. The obtained results indicate that the developed interfaces present an effective solution to the problem of sensorless guidance of a walking robot.
AB - This paper presents a physical human-robot interaction (pHRI) interface, which enables the user to control a walking humanoid robot through physical contact. A human operator guides the robot in parent-child-like behavior by exerting force onto the hand of the robot. In contrast to a conventional approach of pHRI in which force/torque measurements are applied, the proposed solution is based on sensorless force control. Furthermore, we demonstrate an extension to the generic interface by implementing a number of gait control algorithms. This paper also evaluates user-acceptable robot responses while guiding a humanoid robot walking. User opinion on the presented control solution is evaluated through usability testing conducted among prospective users. The obtained results indicate that the developed interfaces present an effective solution to the problem of sensorless guidance of a walking robot.
UR - http://www.scopus.com/inward/record.url?scp=84937565196&partnerID=8YFLogxK
U2 - 10.1109/ROMAN.2014.6926250
DO - 10.1109/ROMAN.2014.6926250
M3 - Conference contribution
AN - SCOPUS:84937565196
T3 - IEEE RO-MAN 2014 - 23rd IEEE International Symposium on Robot and Human Interactive Communication: Human-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions
SP - 180
EP - 185
BT - IEEE RO-MAN 2014 - 23rd IEEE International Symposium on Robot and Human Interactive Communication
A2 - Loureiro, Rui
A2 - Alissandrakis, Aris
A2 - Tapus, Adriana
A2 - Sabanovic, Selma
A2 - Tanaka, Fumihide
A2 - Nagai, Yukie
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 23rd IEEE International Symposium on Robot and Human Interactive Communication, IEEE RO-MAN 2014
Y2 - 25 August 2014 through 29 August 2014
ER -