Journal
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
Volume 19, Issue 2, Pages 1180-1191Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TASE.2020.3043480
Keywords
Robots; Handover; Force; Robot sensing systems; Robot kinematics; Task analysis; Collision avoidance; Admittance control; Baxter robot; object handover; physical human-robot interaction
Categories
Funding
- National Natural Science Foundation of China [61933001, 62073031, 62061160371]
- Beijing Natural Science Foundation [JQ20026]
- Beijing Top Discipline for Artificial Intelligent Science and Engineering, University Science and Technology Beijing
Ask authors/readers for more resources
This article presents a bidirectional bimanual handover system that allows a robot to both give and receive large planar objects with vertical grasp posture, integrating a position adjustment mechanism for improved human experience. The system is divided into four modes based on task states, with the robot controlled by a grip force controller and a dual-arm admittance NN controller to generate actual motions. Through specific methods, the designed handover system is successfully implemented and tested on a Baxter robot, demonstrating safe and effective performance in handover tasks.
Object handover is one of the basic abilities for the robot to interact with the human. Most of the previous works only focus on the limited handover scenarios where the robot uses one hand to give small objects to the human. In this article, we design a bidirectional bimanual handover system that enables the robot to both give and receive the big planar object with vertical grasp posture. In addition to the basic object handover function, the designed handover system also integrates a position adjustment mechanism to improve the human experience. According to different task states, the system is divided into four modes. In each mode, the robot performs a subtask and switches to the next mode at an appropriate time. We propose a two-finger grip force controller and a dual-arm admittance NN controller to control the robot to generate actual motions. By applying specific locating, trajectory planning, and signal identifying methods, we implement the designed handover system on a Baxter robot. The system is tested on two wooden plates with different widths, thicknesses, and weights. The results show that the robot can perform the handover task safely and effectively with the designed handover system.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available