Human-robot collaborative object transfer using human motion prediction based on Cartesian pose Dynamic Movement Primitives
Antonis Sidiropoulos Yiannis Karayiannidis Zoe Doulgeri Antonis Sidiropoulos Yiannis Karayiannidis Zoe Doulgeri
In this work, the problem of human-robot collaborative object transfer to unknown target poses is addressed. The desired pattern of the end-effector pose trajectory to a known target pose is encoded using DMPs (Dynamic Movement Primitives). During transportation of the object to new unknown targets, a DMP-based reference model and an EKF (Extended Kalman Filter) for estimating the target pose and ...