Effect of Robot Position Control Using Force Information: Human versus Robot with Force Sensor

This paper investigates the effect of the robot position control using force information, which finely adjusts the robot position to reduce the force applied to an object, for cooperative work between two remote robot systems with force feedback by experiment. As cooperative work in our experiment, an object is carried together by using the two robots each of which has a force sensor without communicating with each other. We also make a comparison between the case in which the two robots work together and the case in which one robot works with a human instead of the other robot. We further examine the influence of the movement velocity of the object on the control.