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The development of robots that can physically cooperate with humans has attained interest in the last decades. Obviously, this effort requires a deep understanding of the intrinsic properties of interaction. Up to now, many researchers have focused on inferring human intents in terms of intermediate or terminal goals in physical tasks. On the other hand, working side by side with people, an autonomous...
A robot controller is developed for human-robot handshaking. The focus of the work is to provide realistic experiences for the human participant in haptic interactions with a robot. To achieve this goal, a position-based admittance controller is implemented. By using haptic data as inputs, a hidden Markov model-based high-level controller is used to estimate human intentions and modify the reference...
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