Department for Automation, Biocybernetics and Robotics





Human-robot cooperative rope turning using nonlinear oscillators

Petrič T., Gams A., Žlajpah L., Human-robot cooperative rope turning using nonlinear oscillators, 20th International Workshop on Robotics in Alpe-Adria-Danube Region, October 5-7, 2011, Brno, Czech Republic, RAAD 2011, 2011, str. 96-101.

Bibtex
@INPROCEEDINGS {petric2011,
TITLE = {Human-robot cooperative rope turning using nonlinear oscillators},
AUTHOR = {Petri\v{c}, T. and Gams, A. and \v{Z}lajpah, L.},
BOOKTITLE = {20th International Workshop on Robotics in Alpe-Adria-Danube Region, October 5-7, 2011, Brno, Czech Republic, RAAD 2011},
PAGES = {96-101},
YEAR = {2011},
PUBLISHER = {},
}

Abstract (English)

The paper describes a control algorithm for rotating an object that has no support from below, i.e. when the object is soft and pliable. The control algorithm for such tasks is usually more difficult, because the gravity can easily affect the shape of the object. As an example we have selected the task of rotating the rope by a human and a robot, where the robot must not only determine the frequency of the task, but also the direction of the rotation of the rope. To accomplish this task, we propose a novel control method. The method is based on an adaptive frequency oscillator with a Fourier series representation in the feed-back loop. In this way it can extract the frequency and the phase from an unknown periodic signal, in real-time, and without any additional signal processing or pre-processing. We applied the proposed method to a rope turning task performed by a robot.


Keywords
  • Adaptive oscillators
  • Rhythmic movements
  • Adaptive Fourier series
  • Rope turning
  • Human-robot cooperation

 

Video


PDF version of the publication
FULL2021Petric.pdf, (600 kb)