Intent-aware control in kinematically redundant systems: Towards collaborative wearable robots
Mahdi Khoramshahi Guillaume Morel Nathanael Jarrassé Mahdi Khoramshahi Guillaume Morel Nathanael Jarrassé
Many human-robot collaboration scenarios can be seen as a redundant leader-follower setup where the human (i.e., the leader) can potentially perform the task without the assistance of the robot (i.e., the follower). Thus, the goal of the collaboration, beside stable execution of the task, is to reduce the human cost; e.g., ergonomic, or cognitive cost. Such system redundancies (where the same task...