An experimental study on compliance control for a redundant personal robot arm

Zollo, Loredana; Siciliano, Bruno; Laschi, Cecilia; Teti, Gabriella; Dario, P.

doi:10.1016/s0921-8890(03)00042-3

Cited by 61 publications

(27 citation statements)

References 27 publications

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“…Here, it should be made clear that all these approaches are based on the idea of a robot with elastic joints and some of the schemes are partially dynamic model based and some are fully model based schemes. The compliance control scheme of 31,30 is similar to the schemes of 111,114,110 mentioned above, however, they have employed the torque sensor feedback and use a linear relationship between torque and joint stiffness. The compliance control scheme in the the joint space scheme is proposed for the robotic motor therapy machine.…”

Section: Active Compliancementioning

confidence: 99%

Compliance Control and Human–Robot Interaction: Part 1 — Survey

Khan

Herrmann

Grafi

et al. 2014

Int. J. Human. Robot.

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Compliance control is highly relevant to human safety in human–robot interaction (HRI). This paper presents a review of various compliance control techniques. The paper is aimed to provide a good background knowledge for new researchers and highlight the current hot issues in compliance control research. Active compliance, passive compliance, adaptive and reinforcement learning-based compliance control techniques are discussed. This paper provides a comprehensive literature survey of compliance control keeping in view physical human robot interaction (pHRI) e.g., passing an object, such as a cup, between a human and a robot. Compliance control may eventually provide an immediate and effective layer of safety by avoiding pushing, pulling or clamping in pHRI. Emerging areas such as soft robotics, which exploit the deformability of biomaterial as well as hybrid approaches which combine active and passive compliance are also highlighted.

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Section: Active Compliancementioning

confidence: 99%

Compliance Control and Human–Robot Interaction: Part 1 — Survey

Khan

Herrmann

Grafi

et al. 2014

Int. J. Human. Robot.

View full text Add to dashboard Cite

show abstract

“…The idea is to control the stiffness/compliance to reduce the impact force during collisions. Zollo et al proposed interaction control schemes based on exponential position and force error [65] and coactivation function [66]. In the former work, compliance control in Cartesian space, compliance control in joint space, and impedance-compliance control schemes were investigated.…”

Section: Interaction Safety Through Controlmentioning

confidence: 99%

Safe physical human robot interaction-past, present and future

2008

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When a robot physically interacts with a human user, the requirements should be drastically changed. The most important requirement is the safety of the human user in the sense that robot should not harm the human in any situation. During the last few years, research has been focused on various aspects of safe physical human robot interaction. This paper provides a review of the work on safe physical interaction of robotic systems sharing their workspace with human users (especially elderly people). Three distinct areas of research are identified: interaction safety assessment, interaction safety through design, and interaction safety through planning and control. The paper then highlights the current challenges and available technologies and points out future research directions for realization of a safe and dependable robotic system for human users.

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“…Active compliance has been investigated by various researchers to deal with the safety aspects of human-robot interaction. Some of the related work can be found in 20,26,27,1,3,33,38,5,37 . Often compliance or impedance controllers are model-based nonadaptive schemes, e.g.…”

Section: Introductionmentioning

confidence: 99%

Compliance Control and Human–Robot Interaction: Part II — Experimental Examples

Khan

Herrmann

Lenz

et al. 2014

Int. J. Human. Robot.

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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 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 * Taibah University College of Engineering Yanbu, Al Madinah, Saudi Arabia.

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An experimental study on compliance control for a redundant personal robot arm

Cited by 61 publications

References 27 publications

Compliance Control and Human–Robot Interaction: Part 1 — Survey

Compliance Control and Human–Robot Interaction: Part 1 — Survey

Safe physical human robot interaction-past, present and future

Compliance Control and Human–Robot Interaction: Part II — Experimental Examples

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