Human-Robot Cooperative Handling of a Long Object

摘要

We study a robotic assistance system for handling of a long object that is difficult to support with one point. The robot grasps one end of the object and helps the human operator at the other end to carry it. Such a cooperative handling in a vertical plane is considered here. Human cooperative behavior is experimentally measured and analyzed to find the control strategy. To simplify the system, only kinesthetic information such as force, position and velocity is used.