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Minimal force jump within human and assistive robot cooperation

Abdi, Hamid, Nahavandi, Saeid and Masouleh, Mehdi Tale 2010, Minimal force jump within human and assistive robot cooperation, in 2010 IEEE/RSJ : Conference DVD proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Piscataway, N. J., pp. 2651-2656.

Document type: Conference Paper
Collections: Centre for Intelligent Systems Research
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Title Minimal force jump within human and assistive robot cooperation
Author(s) Abdi, Hamid
Nahavandi, Saeid
Masouleh, Mehdi Tale
Conference name International Conference on Intelligent Robots and Systems (2010 : Taipei, Taiwan)
Conference location Taipei, Taiwan
Conference dates 18-22 Oct. 2010
Title of proceedings 2010 IEEE/RSJ : Conference DVD proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
Editor(s) Luo, Ren C.
Lin, Huei-Yung
Meng, Max Q.H.
Asama, Hajime
Tamura, Yusuke
Publication date 2010
Conference series Intelligent Robots and Systems Conference
Start page 2651
End page 2656
Publisher IEEE
Place of publication Piscataway, N. J.
Keyword(s) fault tolerant
robotic manipulators
human robot cooperation
actuator fault
reliability
least square minimization
Summary When an assistant robotic manipulator cooperatively performs a task with a human and the task is required to be highly reliable, then fault tolerance is essential. To achieve the fault tolerance force within the human robot cooperation, it is required to map the effects of the faulty joint of the robot into the manipulator’s healthy joints’ torque space and the human force. The objective is to optimally maintain the cooperative force within the human robot cooperation. This paper aims to analyze the fault tolerant force within the cooperation and two frameworks are proposed. Then they have been validated through a fault scenario. Finally, the minimum force jump which is the optimal fault tolerance has been achieved.
Notes ©2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
ISBN 9781424466764
9781424466757
ISSN 2153-0866
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
HERDC collection year 2010
Copyright notice ©2010, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30031245
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Created: Wed, 17 Nov 2010, 15:04:08 EST by Sandra Dunoon