A Review of Compliant Control for Collaborative Robots

Zhang, Tuopu; Du, Qinghao; Yang, Guilin; Chen, Chin-Yin; Wang, Chongchong; Fang, Zaojun

doi:10.1109/iciea51954.2021.9516193

Cited by 7 publications

(4 citation statements)

References 38 publications

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“…Further reviews adjacent to transparency in HRI focus on the control of robots [26] and teleoperation strategies [27]. Here, human operators need to receive feedback from the remote robot via UIs since no inherent information from face-to-face interaction is available [28].…”

Section: Previous Literature Reviewsmentioning

confidence: 99%

“…Transparency appears in the context of transparency in teleoperated systems, which is defined as the human operator feeling interactions of the remotely located robot [28]. As there are existing reviews that are adjacent to transparency in HRI and focus on the control of robots [26] and teleoperation strategies [27], we specifically excluded these from our study.…”

Section: Phase Ii: Screeningmentioning

confidence: 99%

See 1 more Smart Citation

A Literature Survey of How to Convey Transparency in Co-Located Human–Robot Interaction

Schött

Amin

Butz

2023

MTI

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In human–robot interaction, transparency is essential to ensure that humans understand and trust robots. Understanding is vital from an ethical perspective and benefits interaction, e.g., through appropriate trust. While there is research on explanations and their content, the methods used to convey the explanations are underexplored. It remains unclear which approaches are used to foster understanding. To this end, we contribute a systematic literature review exploring how robot transparency is fostered in papers published in the ACM Digital Library and IEEE Xplore. We found that researchers predominantly rely on monomodal visual or verbal explanations to foster understanding. Commonly, these explanations are external, as opposed to being integrated in the robot design. This paper provides an overview of how transparency is communicated in human–robot interaction research and derives a classification with concrete recommendations for communicating transparency. Our results establish a solid base for consistent, transparent human–robot interaction designs.

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Section: Previous Literature Reviewsmentioning

confidence: 99%

Section: Phase Ii: Screeningmentioning

confidence: 99%

A Literature Survey of How to Convey Transparency in Co-Located Human–Robot Interaction

Schött

Amin

Butz

2023

MTI

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“…Compliant control [1] has been widely employed to establish a stable and controlled interaction between a robot and the surrounding environment. While different implementations and approaches can be found in the state-of-the-art to deal with different applications [2][3][4] , impedance and admittance controllers [5] are the most investigated strategies to deal with (partially) unknown environments [6][7][8] . While impedance control is suitable to control the interaction between the robot and a stiff environment, admittance control performs better when the robot interacts with a soft environment [9] .…”

Section: Contextmentioning

confidence: 99%

Improved impedance/admittance switching controller for the interaction with a variable stiffness environment

Formenti¹,

Bucca²,

Shahid³

et al. 2022

Complex Eng Syst

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Hybrid impedance/admittance control aims to provide an adaptive behavior to the manipulator in order to interact with the surrounding environment. In fact, impedance control is suitable for stiff environments, while admittance control is suitable for soft environments/free motion. Hybrid impedance/admittance control, indeed, allows modulating the control actions to exploit the combination of such behaviors. While some work has addressed the proposed topic, there are still some open issues to be solved. In particular, the proposed contribution aims: (i) to satisfy the continuity of the interaction force in the switching from impedance to admittance control when a feedforward velocity term is present; and (ii) to adapt the switching parameters to improve the performance of the hybrid control framework to better exploit the properties of both impedance and admittance controllers. The proposed approach was compared in simulation with the standard hybrid impedance/admittance control in order to show the improved performance. A Franka EMIKA panda robot was used as a reference robotic platform to provide a realistic simulation.

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“…Therefore, multi-robot cooperation has become an important challenge for robot control [24][25][26], because their movements must be synchronized to avoid collisions. Thus, to accomplish this requirement, the system control could be divided into a supervisor-agent control or a hybrid force/position [29,35,36].…”

Section: Introductionmentioning

confidence: 99%

Robot Coordination: Aeronautic Use Cases Handling Large Parts

Ojeda

Bengoa

Ibarguren

et al. 2022

Designs

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The coordination of two collaborative robots to handle and hold huge parts is the main topic of this research. This study shows how flexible systems may accommodate large-volume components while situating components with a displacement precision between robots of no more than 10 mm into the parts, with the assistance of a single operator. The robots must be able to keep the parts in place while coordinating their movements to handle the parts and reducing external stressors. This paper suggests using collaborative robots to integrate flexible tools for adaptability to various elements in order to accomplish this goal without endangering the operators. The software architecture is described in full in this paper, including machine states to choose task executions, robot referencing in the workspace, remote monitoring via the digital twin, generation paths, and distributed control using a high-level controller (HLC).

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A Review of Compliant Control for Collaborative Robots

Cited by 7 publications

References 38 publications

A Literature Survey of How to Convey Transparency in Co-Located Human–Robot Interaction

A Literature Survey of How to Convey Transparency in Co-Located Human–Robot Interaction

Improved impedance/admittance switching controller for the interaction with a variable stiffness environment

Robot Coordination: Aeronautic Use Cases Handling Large Parts

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