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Minimal force jump within human and assistive robot cooperation
conference contribution
posted on 2010-01-01, 00:00 authored by Hamid AbdiHamid Abdi, Saeid Nahavandi, M MasoulehWhen 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.
History
Event
International Conference on Intelligent Robots and Systems (2010 : Taipei, Taiwan)Pagination
2651 - 2656Publisher
IEEELocation
Taipei, TaiwanPlace of publication
Piscataway, N. J.Start date
2010-10-18End date
2010-10-22ISSN
2153-0866ISBN-13
9781424466740ISBN-10
1424466741Language
engNotes
©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.Publication classification
E1 Full written paper - refereedCopyright notice
2010, IEEEEditor/Contributor(s)
R Luo, H Lin, M Meng, H Asama, Y TamuraTitle of proceedings
2010 IEEE/RSJ : Conference DVD proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and SystemsUsage metrics
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