Active Human-Mobile Manipulator Cooperation Through Intention Recognition
نویسندگان
چکیده
A human-mobile manipulator cooperation module is designed to support a target task consisting of the transportation of a rigid object betw een a mobile manipulator and a master human worker. Our approach in troduces an in ten tionrecognition capability in the robot, based on the search for spectral patterns in the force signal measured at the arm gripper. The mobile manipulator takes advan tage of this capability by generating its own motion plans in order to collaborate in the execution of the task. This has been designated as activ e cooperation.
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