Human User Impressions of Damping Methods for Singularity Handling in Human-Robot Collaboration

Carmichael, MG; Aldini, S; Liu, D

Human User Impressions of Damping Methods for Singularity Handling in Human-Robot Collaboration

Carmichael, MG

Aldini, S Liu, D

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Publisher:: ARAA
Publication Type:: Conference Proceeding
Citation:: Australasian Conference on Robotics and Automation 2017, 2017, pp. 1 - 7
Issue Date:: 2017-12-13

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Field	Value	Language
dc.contributor.author	Carmichael, MG https://orcid.org/0000-0001-8439-0074	en_US
dc.contributor.author	Aldini, S	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.editor	Kodagoda, S	en_US
dc.date	2017-12-11	en_US
dc.date.issued	2017-12-13	en_US
dc.identifier.citation	Australasian Conference on Robotics and Automation 2017, 2017, pp. 1 - 7	en_US
dc.identifier.isbn	978-0-9807404-8-6	en_US
dc.identifier.issn	1448-2053	en_US
dc.identifier.uri	http://hdl.handle.net/10453/123207
dc.description.abstract	Kinematic singularity is a fundamental and well understood problem of robot manipulators, with many methods having been developed to ensure safe and robust operation in proximity to singularity. However little attention has been given to the scenario where the robot and human are working in physical contact to collaboratively perform a task. In such a scenario the feelings and impressions of the human operator should be considered when developing solutions for handling singularity. This work presents an experimental study comparing three modes of handling kinematic singularities with respect to the impressions of the human operator. Two of the modes are based on traditional Damped-Least-Squares. The third method uses an asymmetric damping behavior proposed as being well suited for applications involving physical human-robot interaction. The three modes are tested and compared by subjects performing a mock industrial task, and feedback from the subjects analyzed to identify the preferred mode. Results indicate that the choice of method used affects the user’s impressions of the interaction, and the asymmetrical damping behavior can produce a preferred interaction experience with human operators during tasks.	en_US
dc.publisher	ARAA	en_US
dc.relation	http://purl.org/au-research/grants/arc/LP140100950
dc.relation.ispartof	Australasian Conference on Robotics and Automation 2017	en_US
dc.relation.ispartof	Australasian Conference on Robotics and Automation	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.title	Human User Impressions of Damping Methods for Singularity Handling in Human-Robot Collaboration	en_US
dc.type	Conference Proceeding
utslib.location	Australia	en_US
utslib.location.activity	Sydney Australia	en_US
utslib.for	080602 Computer-Human Interaction	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
pubs.consider-herdc	false	en_US
pubs.finish-date	2017-12-13	en_US
pubs.place-of-publication	Australia	en_US
pubs.publication-status	Published	en_US
pubs.start-date	2017-12-11	en_US

Abstract:

Kinematic singularity is a fundamental and well understood problem of robot manipulators, with many methods having been developed to ensure safe and robust operation in proximity to singularity. However little attention has been given to the scenario where the robot and human are working in physical contact to collaboratively perform a task. In such a scenario the feelings and impressions of the human operator should be considered when developing solutions for handling singularity. This work presents an experimental study comparing three modes of handling kinematic singularities with respect to the impressions of the human operator. Two of the modes are based on traditional Damped-Least-Squares. The third method uses an asymmetric damping behavior proposed as being well suited for applications involving physical human-robot interaction. The three modes are tested and compared by subjects performing a mock industrial task, and feedback from the subjects analyzed to identify the preferred mode. Results indicate that the choice of method used affects the user’s impressions of the interaction, and the asymmetrical damping behavior can produce a preferred interaction experience with human operators during tasks.

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http://hdl.handle.net/10453/123207