Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Human-robot collaborative object transfer using human motion prediction
  based on Cartesian pose Dynamic Movement Primitives   In this work, the problem of human-robot collaborative object transfer to
unknown target poses is addressed. The desired pattern of the end-effector pose
trajectory to a known target pose is encoded using DMPs (Dynamic Movement
Primitives). During transportation of the object to new unknown targets, a
DMP-based reference model and an EKF (Extended Kalman Filter) for estimating
the target pose and time duration of the human's intended motion is proposed. A
stability analysis of the overall scheme is provided. Experiments using a Kuka
LWR4+ robot equipped with an ATI sensor at its end-effector validate its
efficacy with respect to the required human effort and compare it with an
admittance control scheme.

11
The categories of this paper are: hep-lat
17
The categories of this paper are: q-fin
10
The categories of this paper are: q-bio
2
The categories of this paper are: math
32
The categories of this paper are: atom-ph
19
The categories of this paper are: eess
20
The categories of this paper are: acc-phys
21
The categories of this paper are: adap-org
27
The categories of this paper are: comp-gas
0
The categories of this paper are: hep-ph
37
The categories of this paper are: supr-con
34
The categories of this paper are: chem-ph
13
The categories of this paper are: quant-ph
14
The categories of this paper are: math-ph
6
The categories of this paper are: astro-ph
33
The categories of this paper are: plasm-ph