Online Kinematics Estimation for Active Human-Robot Manipulation of Jointly Held Objects

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Yiannis Karayiannidis, Christian Smith, Francisco Viña and Danica Kragic

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'13).

Abstract

This paper introduces a method for estimating the constraints imposed by a human agent on a jointly manipulated object. These estimates can be used to infer knowledge of where the human is grasping an object, enabling the robot to plan trajectories for manipulating the object while subject to the constraints. We describe the method in detail, motivate its validity theoretically, and demonstrate its use in co-manipulation tasks with a real robot.