Denis Ćehajić

2 accepted papers

2017

Estimating unknown object dynamics in human-robot manipulation tasks

Denis Ćehajić, Pablo Budde gen. Dohmann, Sandra Hirche

ICRA 2017poster

Knowing accurately the dynamic parameters of a manipulated object is required for common coordination strategies in physical human-robot interaction. Bias in object dynamics results in inaccurately calculated robot wrenches, which may disturb the human during interaction and bias the recognition of…

Cited by 39 Source ↗Scholar ↗

2015

Grasp pose estimation in human-robot manipulation tasks using wearable motion sensors

Denis Ćehajić, Sebastian Erhart, Sandra Hirche

IROS 2015poster

Knowledge of the human grasp pose is crucial in common control schemes for human-robot object manipulation tasks. Biased estimates of the grasp pose cause undesired interaction wrenches on the human partner, which disturbs the interaction and the recognition of motion intention. A use of wearable mo…

Cited by 20 Source ↗Scholar ↗