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Human-Robot Cooperation: Communication and Leader-Follower Dynamics

Abstract As robotic systems are used in increasingly diverse applications, the interaction of humans and robots has become an important area of research. In many of the applications of physical human robot interaction (pHRI), the robot and the human can be seen as cooperating to complete a task with some object of interest. Often these applications are in unstructured environments where many paths can accomplish the goal. This creates a need for the ability to communicate a preferred direction of motion between both participants in order to move in coordinated way. This communication method should be bidirectional to be able to fully utilize both the robot and human capabilities. Moreover, often in cooperative tasks between two humans, one human wil... (more)
Created Date 2014
Contributor Whitsell, Bryan (Author) / Artemiadis, Panagiotis (Advisor) / Santello, Marco (Committee member) / Santos, Veronica (Committee member) / Arizona State University (Publisher)
Subject Mechanical engineering / Robotics / Human-Robot / impedance control / Leader-Follower / pHRI
Type Masters Thesis
Extent 72 pages
Language English
Reuse Permissions All Rights Reserved
Note M.S. Mechanical Engineering 2014
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS

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Description Dissertation/Thesis