A Reactive Trajectory Controller for Object Manipulation in Human Robot Interaction

Wuwei He, Daniel Sidobre, Ran Zhao

Abstract

This paper presents a reactive trajectory controller for manipulating objects in Human Robot Interaction (HRI) context. The trajectories to be followed by the robot are provided by a human aware motion planner. The controller is based on an online trajectory generator, which is capable of calculating a trajectory from an arbitrary initial condition to a target within one control cycle. The controller is capable of switching to a new trajectory each time the motion planner provides a new trajectory, changing the frame in which the input trajectory is controlled and tracking a target or a trajectory in a frame, which moves with respect to the robot frame. The controller chooses different control modes for different situations. Visual servoing by trajectory generation is considered as one case of the control situations. Some results obtained with this controller are presented to illustrate the potential of the approach.

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Paper Citation


in Harvard Style

He W., Sidobre D. and Zhao R. (2013). A Reactive Trajectory Controller for Object Manipulation in Human Robot Interaction . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 19-28. DOI: 10.5220/0004427000190028


in Bibtex Style

@conference{icinco13,
author={Wuwei He and Daniel Sidobre and Ran Zhao},
title={A Reactive Trajectory Controller for Object Manipulation in Human Robot Interaction},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={19-28},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004427000190028},
isbn={978-989-8565-71-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Reactive Trajectory Controller for Object Manipulation in Human Robot Interaction
SN - 978-989-8565-71-6
AU - He W.
AU - Sidobre D.
AU - Zhao R.
PY - 2013
SP - 19
EP - 28
DO - 10.5220/0004427000190028