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Admittance control for collaborative dual-arm manipulation

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Sonny Tarbouriech
Benjamin Navarro
Philippe Fraisse
André Crosnier
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  • PersonId : 938570
Andrea Cherubini
Damien Sallé
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Human-robot collaboration is an appealing solution to increase the flexibility of production lines. In this context, we propose a kinematic control strategy for dual-arm robotic platforms physically collaborating with human operators. Based on admittance control, our approach aims at improving the performance of object transportation tasks by acting on two levels: estimating and compensating gravity effects on one side, and considering human intention in the cooperative task space on the other. An experimental study using virtual reality reveals the effectiveness of our method in terms of reduced human energy expenditure.
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hal-02307959 , version 1 (08-10-2019)



Sonny Tarbouriech, Benjamin Navarro, Philippe Fraisse, André Crosnier, Andrea Cherubini, et al.. Admittance control for collaborative dual-arm manipulation. ICAR 2019 - 19th International Conference on Advanced Robotics, Dec 2019, Belo Horizonte, Brazil. pp.198-204, ⟨10.1109/ICAR46387.2019.8981624⟩. ⟨hal-02307959⟩
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