This Article 
   
 Share 
   
 Bibliographic References 
   
 Add to: 
 
Digg
Furl
Spurl
Blink
Simpy
Google
Del.icio.us
Y!MyWeb
 
 Search 
   
World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
An HMM approach to realistic haptic human-robot interaction
Salt Lake City, UT, USA
March 18-March 20
ISBN: 978-1-4244-3858-7
Zheng Wang, Institute of Automatic Control Engineering, Technische Universit
Angelika Peer, Institute of Automatic Control Engineering, Technische Universit
Martin Buss, Institute of Automatic Control Engineering, Technische Universit
A robot controller is developed for human-robot handshaking. The focus of the work is to provide realistic experiences for the human participant in haptic interactions with a robot. To achieve this goal, a position-based admittance controller is implemented. By using haptic data as inputs, a Hidden Markov Model-based high-level controller is used to estimate human intentions and modify the reference trajectory accordingly. The overall control framework is implemented onto a robot with validation experiments carried out with human participants.
Citation:
Zheng Wang, Angelika Peer, Martin Buss, "An HMM approach to realistic haptic human-robot interaction," whc, pp.374-379, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2009
Usage of this product signifies your acceptance of the Terms of Use.