Biped robots have gained much attention for decades. A variety of researches have been conducted to make them able to assist or even substitute for humans in performing special tasks. In addition, studying biped robots is important in order to understand human locomotion and to develop and improve control strategies for prosthetic and orthotic limbs. This paper discusses the main challenges encountered in the design of biped robots, such as modeling, stability and their walking patterns. The subject is difficult to deal with because the biped mechanism intervenes with mechanics, control, electronics and artificial intelligence. In this paper, we collect and introduce a systematic discussion of modeling, walking pattern generators and stability for a biped robot.
In this work we consider the current certification process of applications with physical human–robot interaction (pHRI). Two major hazards are collisions and clamping scenarios. The implementation of safety measures in pHRI applications typically depends strongly on coordinates, e.g., to monitor the robot velocity or to predict external forces. We show that the current certification process does not, in general, guarantee a safe robot behavior. In particular, in unstructured environments it is not possible to predict all risks in advance. We therefore propose to control the energy of the robot, which is a coordinate invariant entity. For an impedance controlled robot, the total energy consists of potential energy and kinetic energy. The energy flow from task description to physical interaction follows a strict causality. We assign a safe energy budget for the robot. With this energy budget, the presented controller auto-tunes its parameters to limit the exchanged kinetic energy during a collision and the potential energy during clamping scenarios. In contact, the robot behaves compliantly and therefore eliminates clamping danger. After contact, the robot automatically continues to follow the desired trajectory. With this approach the number of safety-related parameters to be determined can be reduced to one energy value, which has the potential to significantly speed up the commissioning of pHRI applications. The proposed technique is validated by experiments.
Modern robots act in dynamic and partially unknown environments where path replanning can be mandatory if changes in the environment are observed. Task-prioritized control strategies are well known and effective solutions to ensure local adaptation of robot behaviour. The highest priority in a stack of tasks is typically given to the management of correct robot operation or safe interaction with the environment such as obstacles or joint limits avoidance, that we can consider as constraints. If a constraint makes impossible achieving a certain task, such as tracking a Cartesian trajectory, a local control algorithm partially sacrifices the latter which is only accomplished to the best of the robot's ability to generate internal motions. In this control framework, problems may occur in some applications, like in the surgical domain, where it is not safe that some tasks are simply sacrificed without prior notice. The contribution of this work is to introduce a coordinate invariant index, that is used to provide a geometrical interpretation of task conflicts in a task-priority control framework and to develop a method for on-line detection of algorithmic singularities, with the goal of increasing safety and performances during robot operations.
Regarding the arising complex clinical problems, however, a valid biomechanical wrist joint model would be necessary as assistance, in order to improve the success of systematised therapies on the basis of computer-aided model-based planning and intervention.
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