Interface Design for Physical Human-Robot Interaction using sensorless control

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dc.contributor Aalto University en
dc.contributor Aalto-yliopisto fi
dc.contributor.advisor Kondaxakis, Polychronis
dc.contributor.author Dabrowski, Jacek
dc.date.accessioned 2014-05-13T08:14:37Z
dc.date.available 2014-05-13T08:14:37Z
dc.date.issued 2013-10-24
dc.identifier.uri https://aaltodoc.aalto.fi/handle/123456789/13031
dc.description.abstract The rapid increase in the usage of robots has made interaction between a human and a robot a crucial field of research. Physical human–robot interaction constitutes a relevant and growing research area. Nowadays robots are used in almost all areas of life, such as in households, for education and in medicine. Therefore, many research studies are being conducted on ergonomic human–robot interfaces enabling people to communicate, collaborate and to teach a robot through physical interaction.This thesis is focused on developing a physical human-robot interface by means of which the user is able to control a walking humanoid by exerting force. Through physical contact with the robot arm, a human can influence the direction and velocity of the robot walk. In other words, the user leads the humanoid by the hand, and the robot compensates this external force by following the user.The developed interface offers a method of sensorless force control. Instead of the traditional approach using force/torque measurement, the fact that a DC motor’s torque is proportional to the armature current was applied. Two different control algorithms were implemented and compared. Consequently, a usability test was conducted for different interfaces to find the one which was the most ergonomic. en
dc.format.extent 73+6
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.title Interface Design for Physical Human-Robot Interaction using sensorless control en
dc.contributor.school Sähkötekniikan korkeakoulu fi
dc.subject.keyword force control en
dc.subject.keyword human-robot interaction en
dc.subject.keyword interface design en
dc.subject.keyword robotics en
dc.subject.keyword system identification. en
dc.identifier.urn URN:NBN:fi:aalto-201405131813
dc.programme.major Automation and Systems Technology fi
dc.programme.mcode AS3001 fi
dc.contributor.supervisor Kyrki, Ville
dc.programme AUT - Automaatio- ja systeemitekniikka fi
dc.location P1 fi


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