The 2010 IEEE/RSJ International Conference on Intelligent RObots and Systems, Taipei International Convention Center, Taipei, Taiwan, October 18-22, 2010

IROS 2010 Paper Abstract


Paper WeBT4.3

Abdi, Hamid (Deakin University), Nahavandi, Saeid (Deakin University), Tale Masouleh, Mehdi (Université Laval)

Minimal Force Jump within Human and Assistive Robot Cooperation

Scheduled for presentation during the Regular Sessions "Physical Human-Robot Interaction II" (WeBT4), Wednesday, October 20, 2010, 12:00−12:20, 101D

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 18-22, 2010, Taipei International Convention Center, Taipei, Taiwan

This information is tentative and subject to change. Compiled on March 27, 2015

Keywords Cooperating Robots, Robot Companions and Social Robots in Home Environments, Physical Human-Robot Interaction


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.



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