Robot assistance selection for large object manipulation with a human

Abstract : In this paper, we propose a method that allows a human to perform complex manipulation tasks jointly with a robotic partner. To that end, the robot has a library of assistances that it can provide for helping the human partner during a priori unknown collaborative tasks. According to the haptic cues naturally transmitted by the human partner, the robot selects on-line the suitable assistance for the current intended collaborative motion. Based on the naive bayes classifier and the Matthew Correlation Coefficient, the parameters of the decisionmaking are automatically tuned. An experiment on a real arm manipulator is provided to validate the proposed approach.
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Conference papers
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https://hal-cea.archives-ouvertes.fr/cea-01841027
Contributor : Léna Le Roy <>
Submitted on : Tuesday, July 17, 2018 - 7:58:56 AM
Last modification on : Thursday, February 28, 2019 - 2:38:23 PM

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Julie Dumora, Franck Geffard, Catherine Bidard, Nikos Aspragathos, Philippe Fraisse. Robot assistance selection for large object manipulation with a human. SMC: Systems, Man, and Cybernetics, Oct 2013, Manchester, United Kingdom. pp.1828-1833, ⟨10.1109/SMC.2013.315⟩. ⟨cea-01841027⟩

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