search query: @author Dabrowski, Jacek / total: 1
reference: 1 / 1
« previous | next »
Author: | Dabrowski, Jacek |
Title: | Interface Design for Physical Human-Robot Interaction using sensorless control |
Publication type: | Final Project work |
Publication year: | 2013 |
Pages: | 73 s. + liitt. 6 Language: eng |
Department/School: | Sähkötekniikan korkeakoulu |
Degree programme: | Automaatio- ja systeemitekniikan koulutusohjelma |
Main subject: | Automation and Systems Technology (AS3001) |
Supervisor: | Kyrki, Ville |
Instructor: | Kondaxakis, Polychronis |
Electronic version URL: | http://urn.fi/URN:NBN:fi:aalto-201405131813 |
OEVS: | Electronic archive copy is available via Aalto Thesis Database.
Instructions Reading digital theses in the closed network of the Aalto University Harald Herlin Learning CentreIn the closed network of Learning Centre you can read digital and digitized theses not available in the open network. The Learning Centre contact details and opening hours: https://learningcentre.aalto.fi/en/harald-herlin-learning-centre/ You can read theses on the Learning Centre customer computers, which are available on all floors.
Logging on to the customer computers
Opening a thesis
Reading the thesis
Printing the thesis
|
Location: | P1 Ark Aalto 4987 | Archive |
Keywords: | force control human-robot interaction interface design robotics system identification |
Abstract (eng): | The rapid increase in the usage of robots has made interaction between a human and a robot a crucial field of research. Physical human-robot interaction constitutes a relevant and growing research area. Nowadays robots are used in almost all areas of life, such as in households, for education and in medicine. Therefore, many research studies are being conducted on ergonomic human-robot interfaces enabling people to communicate, collaborate and to teach a robot through physical interaction. This thesis is focused on developing a physical human-robot interface by means of which the user is able to control a walking humanoid by exerting force. Through physical contact with the robot arm, a human can influence the direction and velocity of the robot walk. In other words, the user leads the humanoid by the hand, and the robot compensates this external force by following the user. The developed interface offers a method of sensorless force control. Instead of the traditional approach using force/torque measurement, the fact that a DC motor's torque is proportional to the armature current was applied. Two different control algorithms were implemented and compared. Consequently, a usability test was conducted for different interfaces to find the one which was the most ergonomic. |
ED: | 2014-05-18 |
INSSI record number: 49014
+ add basket
« previous | next »
INSSI