Master-Slave Type Cooperative Control of Human and Robot

Abstract

This paper proposes a master-slave control method for a cooperative control of human and robot. A selection matrix is introduced to share control variables between a master control and an autonomous slave control. This method is applied to the object following control of a robot manipulator with a visual sensor. Some experiments show the effect of selection matrix and the availability of this cooperative control to fuse a human skill into a robot control ability.