Co-manipulation with a library of virtual guides

Abstract : Robots have a fundamental role in industrial manufacturing. They not only increase the efficiency and the quality of production lines, but also drastically decrease the work load carried out by humans.However, due to the limitations of industrial robots in terms of flexibility, perception and safety, their use is limited to well-known structured environment. Moreover, it is not always cost-effective to use industrial autonomous robots in small factories with low production volumes.This means that human workers are still needed in many assembly lines to carry out specific tasks.Therefore, in recent years, a big impulse has been given to human-robot co-manipulation.By allowing humans and robots to work together, it is possible to combine the advantages of both; abstract task understanding and robust perception typical of human beings with the accuracy and the strength of industrial robots.One successful method to facilitate human-robot co-manipulation, is the Virtual Guides approach which constrains the motion of the robot along only certain task-relevant trajectories. The so realized virtual guide acts as a passive tool that improves the performances of the user in terms of task time, mental workload and errors.The innovative aspect of our work is to present a library of virtual guides that allows the user to easily select, generate and modify the guides through an intuitive haptic interaction with the robot.We demonstrated in two industrial tasks that these innovations provide a novel and intuitive interface for joint human-robot completion of tasks.
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Gennaro Raiola. Co-manipulation with a library of virtual guides. Robotics [cs.RO]. Université Paris-Saclay, 2017. English. ⟨NNT : 2017SACLY001⟩. ⟨tel-01573500⟩

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