Original paper

Human-Robot Co-Carrying Using Visual and Force Sensing

Volume: 68, Issue: 9, Pages: 8657 - 8666
Published: Sep 1, 2021
In this article, we propose a hybrid framework using visual and force sensing for human-robot co-carrying tasks. Visual sensing is utilized to obtain human motion and an observer is designed for estimating control input of human, which generates robot's desired motion toward human's intended motion. An adaptive impedance-based control strategy is proposed for trajectory tracking with neural networks used to compensate for uncertainties in...
Paper Details
Human-Robot Co-Carrying Using Visual and Force Sensing
Published Date
Sep 1, 2021
8657 - 8666
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