World Haptics Conference (2009)
Salt Lake City, UT, USA
Mar. 18, 2009 to Mar. 20, 2009
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.
A. Peer, Z. Wang and M. Buss, "An HMM approach to realistic haptic human-robot interaction," World Haptics Conference(WHC), Salt Lake City, UT, USA, 2009, pp. 374-379.