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    Human-Centered Coordination for Robot-Assisted Equipment Transport

    Source: ASME Letters in Dynamic Systems and Control:;2024:;volume( 005 ):;issue: 002::page 21002-1
    Author:
    Fernandez, Joshua
    ,
    Cosby, Austin
    ,
    Mazumdar, Anirban
    DOI: 10.1115/1.4066870
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This work explores how to use an unmanned ground vehicle (UGV) to offload the physical burdens of equipment from humans. This work formulates dynamic alignment following and compares it to position-based following techniques. We describe the control strategies of both following methods and implement them in a dynamic simulation and a physical prototype. We test the performance of the two following methods and show that dynamic alignment following can reduce robot positional error and interaction force between the human and the robot. We then analyze the energetics and the performance of the human–UGV team for candidate transportation tasks. The presence of the robot can make some tasks take longer to perform. Nonetheless, the results show that for the candidate tasks, the robot can reduce human average metabolic power and average overall task energy.
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      Human-Centered Coordination for Robot-Assisted Equipment Transport

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4305923
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    contributor authorFernandez, Joshua
    contributor authorCosby, Austin
    contributor authorMazumdar, Anirban
    date accessioned2025-04-21T10:18:53Z
    date available2025-04-21T10:18:53Z
    date copyright10/30/2024 12:00:00 AM
    date issued2024
    identifier issn2689-6117
    identifier otheraldsc_5_2_021002.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4305923
    description abstractThis work explores how to use an unmanned ground vehicle (UGV) to offload the physical burdens of equipment from humans. This work formulates dynamic alignment following and compares it to position-based following techniques. We describe the control strategies of both following methods and implement them in a dynamic simulation and a physical prototype. We test the performance of the two following methods and show that dynamic alignment following can reduce robot positional error and interaction force between the human and the robot. We then analyze the energetics and the performance of the human–UGV team for candidate transportation tasks. The presence of the robot can make some tasks take longer to perform. Nonetheless, the results show that for the candidate tasks, the robot can reduce human average metabolic power and average overall task energy.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleHuman-Centered Coordination for Robot-Assisted Equipment Transport
    typeJournal Paper
    journal volume5
    journal issue2
    journal titleASME Letters in Dynamic Systems and Control
    identifier doi10.1115/1.4066870
    journal fristpage21002-1
    journal lastpage21002-6
    page6
    treeASME Letters in Dynamic Systems and Control:;2024:;volume( 005 ):;issue: 002
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian