A Framework for intuitive collaboration with a mobile manipulator

Abstract : In this paper, we present a control strategy that enables intuitive physical human-robot collaboration with mobile manipulators equipped with an omnidirectional base. When interacting with a human operator, intuitiveness of operation is a major concern. To this end, we propose a redundancy solution that allows the mobile base to be fixed when working locally and moves it only when the robot approaches a set of constraints. These constraints include distance to singular poses, minimum of manipulability and distance to objects and angular deviation. Experimental results with a Kuka LWR4 arm mounted on a Neobotix MPO700 mobile base validate the proposed approach.
Type de document :
Pré-publication, Document de travail
2017
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https://hal.archives-ouvertes.fr/hal-01489029
Contributeur : Benjamin Navarro <>
Soumis le : lundi 24 juillet 2017 - 11:05:59
Dernière modification le : lundi 30 octobre 2017 - 02:58:03

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  • HAL Id : hal-01489029, version 2

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Benjamin Navarro, Andrea Cherubini, Aïcha Fonte, Gérard Poisson, Philippe Fraisse. A Framework for intuitive collaboration with a mobile manipulator. 2017. 〈hal-01489029v2〉

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