Name
Title | ||
|---|---|---|
Combining energy and power based safety metrics in controller design for domestic robots |
Abstract | ||
|---|---|---|
This paper presents a general passivity based interaction controller design approach that utilizes a combined energy and power based safety norms to assert safety of domestic robots. Since these robots are expected to co-habit the same environment with a human user, analysing and ensuring their safety is an important requirement. Safety analysis of domestic robots determine whether a robot achieves a desired safety level according to some quantitative safety metrics. When it comes to controller design for human friendly robots, it often involves introducing compliance and ensuring asymptotic stability using impedance control technique and passivity theories. The controller proposed in this work also uses a passive design that extends the standard impedance control scheme with energy and power based safety metrics to ensure that safety requirements defined in these norms are achieved by domestic robots. The effectiveness of the proposed guideline is illustrated with simulation and experimental results. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ICRA.2014.6907007 | Robotics and Automation |
Keywords | Field | DocType |
asymptotic stability,control system synthesis,robots,asymptotic stability,domestic robots,energy based safety metrics,general passivity based interaction controller design,human friendly robots,impedance control technique,passive design,passivity theory,power based safety metrics,quantitative safety metrics,safety analysis,safety requirements,Domestic Robots,Impedance Control,Interaction Control,PD,Passivity Based Control,Safety Metric | Passivity,Passive solar building design,Control theory,Control theory,Controller design,Control engineering,Exponential stability,Impedance control,Engineering,Robot | Conference |
Volume | Issue | ISSN |
2014 | 1 | 1050-4729 |
Citations | PageRank | References |
3 | 0.47 | 7 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Tadele Shiferaw Tadele | 1 | 13 | 1.60 |
| Theo J. A. De Vries | 2 | 62 | 4.53 |
| Stefano Stramigioli | 3 | 863 | 111.80 |