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Article

Dual Arm Co-Manipulation Architecture with Enhanced Human–Robot Communication for Large Part Manipulation

1
Industry and Transport Division, TECNALIA, Basque Research and Technology Alliance (BRTA), 20009 San Sebastián, Spain
2
School of Aerospace, Transport and Manufacturing, Cranfield University, Cranfield, Bedfordshire MK43 0AL, UK
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(21), 6151; https://doi.org/10.3390/s20216151
Received: 29 September 2020 / Revised: 23 October 2020 / Accepted: 24 October 2020 / Published: 29 October 2020
(This article belongs to the Special Issue Human-Robot Interaction and Sensors for Social Robotics)
The emergence of collaborative robotics has had a great impact on the development of robotic solutions for cooperative tasks nowadays carried out by humans, especially in industrial environments where robots can act as assistants to operators. Even so, the coordinated manipulation of large parts between robots and humans gives rise to many technical challenges, ranging from the coordination of both robotic arms to the human–robot information exchange. This paper presents a novel architecture for the execution of trajectory driven collaborative tasks, combining impedance control and trajectory coordination in the control loop, as well as adding mechanisms to provide effective robot-to-human feedback for a successful and satisfactory task completion. The obtained results demonstrate the validity of the proposed architecture as well as its suitability for the implementation of collaborative robotic systems. View Full-Text
Keywords: human–robot interaction; co-manipulation; human–robot interface; assistant robots human–robot interaction; co-manipulation; human–robot interface; assistant robots
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MDPI and ACS Style

Ibarguren, A.; Eimontaite, I.; Outón, J.L.; Fletcher, S. Dual Arm Co-Manipulation Architecture with Enhanced Human–Robot Communication for Large Part Manipulation. Sensors 2020, 20, 6151. https://doi.org/10.3390/s20216151

AMA Style

Ibarguren A, Eimontaite I, Outón JL, Fletcher S. Dual Arm Co-Manipulation Architecture with Enhanced Human–Robot Communication for Large Part Manipulation. Sensors. 2020; 20(21):6151. https://doi.org/10.3390/s20216151

Chicago/Turabian Style

Ibarguren, Aitor, Iveta Eimontaite, José Luis Outón, and Sarah Fletcher. 2020. "Dual Arm Co-Manipulation Architecture with Enhanced Human–Robot Communication for Large Part Manipulation" Sensors 20, no. 21: 6151. https://doi.org/10.3390/s20216151

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