An Augmented Discrete-Time Approach for Human-Robot Collaboration

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/ddns/volume-2016/9126056/figures/9126056.fig.0011a.svgz" name="9126056.fig.0011a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Object moving with pose 1</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/ddns/volume-2016/9126056/figures/9126056.fig.0011b.svgz" name="9126056.fig.0011b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Object moving with pose 2</td></tr></table>

<div>Scheme of Baxter robot moving an object by two different poses. The red arrows denote the force directions of the two poses, respectively.</div>

Discrete Dynamics in Nature and Society

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Figure 11

Figure 11: An Augmented Discrete-Time Approach for Human-Robot Collaboration 