The paper analyses a possible cooperative task between a human operator and a robot. Operator and robot are interfaced by Microsoft Kinect® which is used to detect the position of an upper limb of the operator. The robot is driven by a control algorithm designed to track the hand of the human and to obtain a hand-over in the final part of the trajectory. The paper describes the algorithm and shows its performance with different velocities of the limbs by means of tests carried out in a simulation environment.

Influence of human limb motion speed in a collaborative hand-over task / Melchiorre, M.; Scimmi, L. S.; Mauro, S.; Pastorelli, S.. - 2:(2018), pp. 349-356. (Intervento presentato al convegno 15th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2018 tenutosi a Oporto (PT) nel 2018) [10.5220/0006864703490356].

Influence of human limb motion speed in a collaborative hand-over task

Melchiorre M.;Scimmi L. S.;Mauro S.;Pastorelli S.
2018

Abstract

The paper analyses a possible cooperative task between a human operator and a robot. Operator and robot are interfaced by Microsoft Kinect® which is used to detect the position of an upper limb of the operator. The robot is driven by a control algorithm designed to track the hand of the human and to obtain a hand-over in the final part of the trajectory. The paper describes the algorithm and shows its performance with different velocities of the limbs by means of tests carried out in a simulation environment.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2753532
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