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Figure 12. The force/torque sensing and trajectory estimation in a cooperative human-TIAGo unloading task between the current pose
and the estimate. (a) The TIAGo force and torque measurement. (b) The estimated desired and actual pose of the TIAGo's end-effector.
Acknowledgment
This work was supported by the European Community
through the project Co4Robots (H2020-731869). The authors
would like to thank the rest of the Co4Robots Consortium for
all of their efforts during the project.
References
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[2] S. M. LaValle, Planning Algorithms. Cambridge, U.K.: Cambridge
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[3] J. Alonso-Mora, J. A. DeCastro, V. Raman, D. Rus, and H. KressGazit,
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[4] C. K. Verginis, Z. Xu, and D. V. Dimarogonas, " Decentralized
motion planning with collision avoidance for a team of uavs under
30
30
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1
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30
30
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-0.36
-0.44
-0.42
-0.4
-0.38
-0.48
-0.46
01020
Time (s)
Yaw
30
z-Axis
20
25
30
5101520
Time (s)
25
30
x-Axis
y-Axis
z-Axis
35
x-Axis
y-Axis
z-Axis
35
Orientation (rad)
Position (m)
Torque (N.m)
Force (N)
Orientation (rad)
Position (m)
Orientation (rad)
Position (m)

IEEE Robotics & Automation Magazine - June 2021

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