Name
Abstract | ||
|---|---|---|
Compliance control is highly relevant to human safety in human robot interaction (HRI). This paper presents multi-dimensional compliance control of a humanoid robot arm. A dynamic model-free adaptive controller with an anti-windup compensator is implemented on four degrees of freedom (DOF) of a humanoid robot arm. The paper is aimed to compliment the associated review paper on compliance control. This is a model reference adaptive compliance scheme which employs end-effector forces (measured via joint torque sensors) as a feedback. The robot's body-own torques are separated from external torques via a simple but effective algorithm. In addition, an experiment of physical human robot interaction is conducted employing the above mentioned adaptive compliance control along with a speech interface. The experiment is focused on passing an object (a cup) between a human and a robot. Compliance is providing an immediate layer of safety for this HRI scenario by avoiding pushing, pulling or clamping and minimizing the effect of collisions with the environment. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1142/S0219843614300025 | INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS |
Keywords | Field | DocType |
Compliance, impedance, humanoids, optimal adaptive control, HRI, pHRI | Clamping,Control theory,Torque,Simulation,Computer science,Robot,Speech interface,Human–robot interaction,Human safety,Humanoid robot | Journal |
Volume | Issue | ISSN |
11 | 3 | 0219-8436 |
Citations | PageRank | References |
0 | 0.34 | 10 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Said Ghani Khan | 1 | 71 | 6.71 |
| Guido Herrmann | 2 | 83 | 11.31 |
| Alexander Lenz | 3 | 75 | 6.52 |
| Mubarak Al Grafi | 4 | 0 | 0.34 |
| Tony Pipe | 5 | 171 | 24.02 |
| Chris Melhuish | 6 | 747 | 87.61 |