Adaptive impedance control for safe robot manipulator

Luo, Ren C.; Huang, Han B.; Yi, Chun Y.; Perng, Yi Wen

doi:10.1109/wcica.2011.5970695

Cited by 8 publications

(6 citation statements)

References 5 publications

(4 reference statements)

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“…However, most of these researches and products focus on intrinsic safety, i.e. safety in mechanical design [55], actuation [156] and low level motion control [95]. Safety during social interactions with humans, which are key to intelligence (including perception, cognition and high level motion planning and control), still needs to be explored.…”

Section: Overviewmentioning

confidence: 99%

Designing Robot Behavior in Human-Robot Interactions

Liu¹,

Tian²,

Lin³

et al. 2019

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Designing Robot Behavior in Human-Robot InteractionsHuman-robot interactions (HRI) have been recognized to be a key element of future robots in many application domains such as manufacturing, transportation, service and entertainment. These applications entail huge social and economical impacts. Future robots are envisioned to function as human's counterparts, which are independent entities that make decisions for themselves; intelligent actuators that interact with the physical world; and involved observers that have rich senses and critical judgements. Most importantly, they are entitled social attributions to build relationships with humans. We call these robots corobots.Technically, it is challenging to design the behavior of co-robots. Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly unstructured and stochastic environments. The fundamental research question to address in this dissertation is how to ensure that co-robots operate efficiently and safely in dynamic uncertain environments.The focus of this dissertation is 1) to set up a unified analytical framework for various human-robot systems; 2) to establish a methodology to design the robot behavior to address the fundamental problem.A multi-agent framework to model human-robot systems is introduced in Chapter 2. In order to address the uncertainties during human-robot interactions, a unique parallel planning and control architecture is introduced in Chapter 2, which has a cognition module for human behavior estimation and human motion prediction, a long term global planner to ensure efficiency of robot behavior, and a short term local planner to ensure real time safety under uncertainties. The functionalities of these components are discussed in Chapter 3 to Chapter 5. Chapter 3 discusses the cognition module, which includes offline classification and online adaptation of various human behaviors. Chapter 4 and Chapter 5 discuss the optimal control or optimization problems for short term and long term robot motion planning. In a cluttered environment, the optimization problems are highly nonlinear and non-convex, hence hard to solve in real time, which may delay the robot's response in emergency situations. Fast online algorithms are developed to handle the issue: the convex feasible setThe past five years has been an incredible journey in my life. I would not have come this far without the tremendous help from many people.My deep and sincere gratitude goes to my Ph.D. advisor Professor Masayoshi Tomizuka, who has been a great mentor to me during the past five years for his profound knowledge, insightful visions, enthusiasm on work, and humor in life. Moreover, Professor Tomizuka respects all my research ideas, inspires me to explore the unknowns, and offers the strongest support in my career development. I sincerely wish I could be a great person, an extraordinary mentor as he is in the future.

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Section: Overviewmentioning

confidence: 99%

Designing Robot Behavior in Human-Robot Interactions

Liu¹,

Tian²,

Lin³

et al. 2019

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“…The controller resembles a conventional PD controller and introduced a desirable compliance to the system. A number of impedance controller designs have addressed issues such as robustness [93], [94], adding adaptive control techniques [95], [96], extension with learning approach [97], dynamics of flexible robot [79], [98], dexterous manipulation [99], [78], [100].…”

Section: Controller Designmentioning

confidence: 99%

The Safety of Domestic Robotics: A Survey of Various Safety-Related Publications

Tadele

Vries

Stramigioli

2014

IEEE Robot. Automat. Mag.

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Abstract-Different branches of technology are striving to come up with new advancements that will enhance civilization and ultimately improve the way of life. In the robotics community, a stride has been made to bring the use of personal robots in office and home environments on the horizon. Safety is one of the critical issues that must be guaranteed for successful acceptance, deployment and utilization of domestic robots. Unlike the barrier based operational safety guarantee that is widely used in industrial robotics, safety in domestic robotics deals with a number of issues such as intrinsic safety, collision avoidance, human detection and advanced control techniques. In the last decade, a number of researchers have presented their works that highlighted the issue of safety in a specific part of the complete domestic robotics system. This paper presents a general survey of various safety related publications that focus on safety criteria & metrics, mechanical design & actuation and controller design.

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“…However, many of these products focus on intrinsic safety, i.e. safety in mechanical design [14], actuation [34] and low level motion control [29]. Safety during interactions with humans, which are key to intelligence (including perception, cognition and high level motion planning and control), still needs to be explored.…”

Section: Introductionmentioning

confidence: 99%

Robot Safe Interaction System for Intelligent Industrial Co-Robots

Liu¹,

Tomizuka²

2018

Preprint

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Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (corobots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly unstructured and stochastic environments. To ensure that corobots operate efficiently and safely in dynamic uncertain environments, this paper introduces the robot safe interaction system. In order to address the uncertainties during human-robot interactions, a unique parallel planning and control architecture is proposed, which has a long term global planner to ensure efficiency of robot behavior, and a short term local planner to ensure real time safety under uncertainties. In order for the robot to respond immediately to environmental changes, fast algorithms are used for real-time computation, i.e., the convex feasible set algorithm for the long term optimization, and the safe set algorithm for the short term optimization. Several test platforms are introduced for safe evaluation of the developed system in the early phase of deployment. The effectiveness and the efficiency of the proposed method have been verified in experiment with an industrial robot manipulator.

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Adaptive impedance control for safe robot manipulator

Cited by 8 publications

References 5 publications

Designing Robot Behavior in Human-Robot Interactions

Designing Robot Behavior in Human-Robot Interactions

The Safety of Domestic Robotics: A Survey of Various Safety-Related Publications

Robot Safe Interaction System for Intelligent Industrial Co-Robots

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