Adaptive Robot Control for Human-dominant Interactions using a General Task Function

• Main Authors: Lyu, Shangke, Cheah, Chien Chern
• Other Authors: School of Electrical and Electronic Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2016
• Online Access: https://hdl.handle.net/10356/83863; http://hdl.handle.net/10220/41573; http://robotics.sjtu.edu.cn/RCAR/
• Institution: Nanyang Technological University

When humans and a robot manipulator are sharing the same workspace, the robot is required to interact with the humans in addition to performing the standard robot tasks. Due to the different natures of the robot tasks and interaction tasks, different controllers are required when the task is switche...