Human-robot cooperative swinging of complex pendulum-like objects

@article{Donner2013HumanrobotCS,
  title={Human-robot cooperative swinging of complex pendulum-like objects},
  author={Philine Donner and Franz Christange and Martin Buss},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2013},
  pages={4602-4608}
}
This paper investigates human-robot cooperative swinging of a complex pendulum-like object. The complexity of the object results in two possible swinging modes. The goal is to excite one mode such that a desired energy level of the pendulum is reached while simultaneously damping the other mode. The energy based control concept relies on the projection of the complex mechanism onto an abstract simple pendulum with two-sided actuation. An actively contributing robot leader and robot follower are… CONTINUE READING