Name
Title | ||
|---|---|---|
A minimum invasive strategy to guarantee safety under unexpected unintentional human-robot contact |
Abstract | ||
|---|---|---|
The problem of designing an active robot reaction scheme to increase safety against unexpected, unintentional robot contacts with a human or its environment, is considered in this work. Its main functionalities are a) the regulation of the interaction force profile within acceptable/safe boundaries and b) the prevention of undesirable after-contact collisions. The developed methodology is model-free and operates at the high level of reference trajectory determination, producing bounded and sufficiently smooth modifications of the nominal reference, leaving intact the embedded low-level, robot position controller. It is underlined that the proposed minimal invasive solution, is evaluated via experiments performed on a KUKA LWR4+ robotic manipulator equipped with a Shadow Hand-Lite having optoforce sensors attached at its fingertips. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/MED.2017.7984140 | 2017 25th Mediterranean Conference on Control and Automation (MED) |
Keywords | Field | DocType |
minimum invasive strategy,safety,unintentional human-robot contact,active robot reaction scheme,interaction force profile,after-contact collisions,robot position controller,KUKA LWR4+ robotic manipulator,shadow hand-lite having optoforce sensors | Robot control,Shadow,Control theory,Computer science,Control theory,Control engineering,Robot,Robot manipulator,Trajectory,Human–robot interaction,Bounded function | Conference |
ISSN | ISBN | Citations |
2325-369X | 978-1-5090-4534-1 | 0 |
PageRank | References | Authors |
0.34 | 6 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yiannis Koveos | 1 | 0 | 0.34 |
| George A. Rovithakis | 2 | 749 | 45.73 |
| Ioannis Agriomallos | 3 | 3 | 0.76 |
| Stefanos Doltsinis | 4 | 30 | 4.59 |