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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
ASCII Text
x 
 
Zheng Wang, Angelika Peer, Martin Buss, "An HMM approach to realistic haptic human-robot interaction," World Haptics Conference, pp. 374-379, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2009.
 
 
BibTex
x
 
@article{ 10.1109/WHC.2009.4810835,
author = {Zheng Wang and Angelika Peer and Martin Buss},
title = {An HMM approach to realistic haptic human-robot interaction},
journal ={World Haptics Conference},
volume = {0},
year = {2009},
isbn = {978-1-4244-3858-7},
pages = {374-379},
doi = {http://doi.ieeecomputersociety.org/10.1109/WHC.2009.4810835},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - CONF
JO - World Haptics Conference
TI - An HMM approach to realistic haptic human-robot interaction
SN - 978-1-4244-3858-7
SP374
EP379
A1 - Zheng Wang,
A1 - Angelika Peer,
A1 - Martin Buss,
PY - 2009
VL - 0
JA - World Haptics Conference
ER -
 
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
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