4 papers
Adaptive PD Gains for Energy-Conscious Control in Physical Human-Robot Interaction
Danyal Saqib, Francisco Andrade Chavez, Marie Charbonneau
Compliant force or torque control are approaches often investigated to achieve safe physical human-robot interaction (pHRI). However, these approaches have limitations. Force contr…
Audio-Based Tactile Human-Robot Interaction Recognition
Antonia Yepes, Marie Charbonneau
This study explores the use of microphones placed on a robot's body to detect tactile interactions via sounds produced when the hard shell of the robot is touched. This approach is…
Dancing with REEM-C: A robot-to-human physical-social communication study
Marie Charbonneau, Francisco Javier Andrade Chavez, Katja Mombaur
Humans often work closely together and relay a wealth of information through physical interaction. Robots, on the other hand, are not yet able to work similarly closely with humans…
The path towards contact-based physical human-robot interaction
Mohammad Farajtabar, Marie Charbonneau
With the advancements in human-robot interaction (HRI), robots are now capable of operating in close proximity and engaging in physical interactions with humans (pHRI). Likewise, c…