Human Preferences in Using Damping to Manage Singularities During Physical Human-Robot Collaboration

Carmichael, MG; Khonasty, R; Aldini, S; Liu, D

Human Preferences in Using Damping to Manage Singularities During Physical Human-Robot Collaboration

Carmichael, MG Khonasty, R Aldini, S

Liu, D

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Publisher:: IEEE
Publication Type:: Conference Proceeding
Citation:: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, 00, pp. 10184-10190
Issue Date:: 2020-09-15

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Field	Value	Language
dc.contributor.author	Carmichael, MG
dc.contributor.author	Khonasty, R
dc.contributor.author	Aldini, S https://orcid.org/0000-0001-5411-3850
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582
dc.date	2020-05-31
dc.date.accessioned	2021-02-21T23:52:33Z
dc.date.available	2021-02-21T23:52:33Z
dc.date.issued	2020-09-15
dc.identifier.citation	2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, 00, pp. 10184-10190
dc.identifier.isbn	978-1-7281-7396-2
dc.identifier.issn	1050-4729
dc.identifier.uri	http://hdl.handle.net/10453/146270
dc.description.abstract	When a robot manipulator approaches a kinematic singular configuration, control strategies need to be employed to ensure safe and robust operation. If this manipulator is being controlled by a human through physical human-robot collaboration, the choice of strategy for handling singularities can have a significant effect on the feelings and impressions of the user. To date the preferences of humans during physical human-robot collaboration regarding strategies for managing kinematic singularities have yet to be thoroughly explored.This work presents an empirical study of a damping-based strategy for handling singularities with regard to the preferences of the human operator. Two different parameters, damping rate and damping asymmetry, are tested using a double-blind A/B pairwise comparison testing protocol. Participants included two cohorts made up of the general public (n=51) and people working within a robotic research centre (n=18). In total 105 individual trials were performed. Results indicate a preference for a faster, asymmetric damping behavior that slows motions towards singularities whilst allowing for faster motions away.
dc.language	en
dc.publisher	IEEE
dc.relation	http://purl.org/au-research/grants/arc/LP140100950
dc.relation.ispartof	2020 IEEE International Conference on Robotics and Automation (ICRA)
dc.relation.ispartof	2020 IEEE International Conference on Robotics and Automation
dc.relation.isbasedon	10.1109/icra40945.2020.9197093
dc.rights	© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.title	Human Preferences in Using Damping to Manage Singularities During Physical Human-Robot Collaboration
dc.type	Conference Proceeding
utslib.citation.volume	00
utslib.location.activity	Paris, France
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
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
utslib.copyright.status	open_access	*
dc.date.updated	2021-02-21T23:52:20Z
pubs.finish-date	2020-08-31
pubs.publication-status	Published
pubs.start-date	2020-05-31
pubs.volume	00

Abstract:

When a robot manipulator approaches a kinematic singular configuration, control strategies need to be employed to ensure safe and robust operation. If this manipulator is being controlled by a human through physical human-robot collaboration, the choice of strategy for handling singularities can have a significant effect on the feelings and impressions of the user. To date the preferences of humans during physical human-robot collaboration regarding strategies for managing kinematic singularities have yet to be thoroughly explored.This work presents an empirical study of a damping-based strategy for handling singularities with regard to the preferences of the human operator. Two different parameters, damping rate and damping asymmetry, are tested using a double-blind A/B pairwise comparison testing protocol. Participants included two cohorts made up of the general public (n=51) and people working within a robotic research centre (n=18). In total 105 individual trials were performed. Results indicate a preference for a faster, asymmetric damping behavior that slows motions towards singularities whilst allowing for faster motions away.

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http://hdl.handle.net/10453/146270