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    Autonomy in Physical Human-Robot Interaction: A Brief Survey

    Selvaggio, Mario and Cognetti, Marco and Nikolaidis, Stefanos and Ivaldi, Serena and Siciliano, Bruno (2021) Autonomy in Physical Human-Robot Interaction: A Brief Survey. IEEE Robotics and Automation Letters, 6 (4). pp. 7989-7996. ISSN 2377-3774

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    Sharing the control of a robotic system with an autonomous controller allows a human to reduce his/her cognitive and physical workload during the execution of a task. In recent years, the development of inference and learning techniques has widened the spectrum of applications of shared control (SC) approaches, leading to robotic systems that are capable of seamless adaptation of their autonomy level. In this perspective, shared autonomy (SA) can be defined as the design paradigm that enables this adapting behavior of the robotic system. This letter collects the latest results achieved by the research community in the field of SC and SA with special emphasis on physical human-robot interaction (pHRI). Architectures and methods developed for SC and SA are discussed throughout the letter, highlighting the key aspects of each methodology. A discussion about open issues concludes this letter.

    Item Type: Article
    Keywords: Physical human-robot interaction; human-centered robotics; human-robot collaboration;
    Academic Unit: Faculty of Science and Engineering > Electronic Engineering
    Item ID: 18597
    Identification Number:
    Depositing User: Marco Cognetti
    Date Deposited: 30 May 2024 09:21
    Journal or Publication Title: IEEE Robotics and Automation Letters
    Publisher: IEEE
    Refereed: Yes
    Use Licence: This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here

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