Abstract
In this paper, we propose a hybrid deliberate/reactive model to achieve natural handshaking between human beings and robots. Our goal is to provide a perspective to achieve natural human-robot handshaking in addition to time/frequency based trajectory control. The proposed model consists of two parts. The reactive part is designed to enable the robot to follow the handshaking motion led by the human being, while the deliberate part is dedicated to embed a unique handshaking character into the robot. The validity of the proposed model is examined by comparing the trajectory and interaction force during the human-human and human-robot handshaking, respectively. © 2012 Springer-Verlag.
Cite
CITATION STYLE
Zeng, Y., Li, Y., Xu, P., & Ge, S. S. (2012). Human-robot handshaking: A hybrid deliberate/reactive model. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 7621 LNAI, pp. 258–267). https://doi.org/10.1007/978-3-642-34103-8_26
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