Online Verification of Impact-Force-Limiting Control for Physical Human-Robot Interaction

Liu, S. B.; Althoff, Matthias

doi:10.1109/iros51168.2021.9636610

Cited by 7 publications

(5 citation statements)

References 26 publications

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“…The estimation of reachset-conformant disturbance sets and system matrices of a linear system can be formulated as a convex programming problem, which minimizes the volume of the disturbance set [8]. To obtain tight reachable sets, we can also directly minimize the size of the reachable set: By converting the reachable set represented with zonotopes to its halfspace representation, reachset-conformant disturbance sets for linear systems can be identified using linear programming [9], [10]. A nonlinear programming layer can be added to estimate unknown model parameters.…”

Section: Introductionmentioning

confidence: 99%

Scalable Reachset-Conformant Identification of Linear Systems

Lützow,

Althoff

2024

IEEE Control Syst. Lett.

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By monitoring the set of reachable outputs, safety can be verified. However, to compute the reachable set of real-world systems, we require models that are able to produce all possible system behaviors. These kinds of models are called reachset-conformant, and their identification is a promising new research direction. While many existing reachset-conformant identification techniques require the computation of the halfspace representation of the zonotopic reachable sets, we propose an approach that leads to the same optimal identification results using the more scalable generator representation. Thus, our approach offers greater efficiency for high-dimensional systems and long time horizons. The scalability and accuracy of both approaches are compared in numerical experiments with linear time-variant systems.

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Section: Introductionmentioning

confidence: 99%

Scalable Reachset-Conformant Identification of Linear Systems

Lützow,

Althoff

2024

IEEE Control Syst. Lett.

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“…Efforts to mitigate injury include incorporating soft structures into robot bodies, although altering payload surface quality may be challenging [5]. Compliance and impedance-based controllers have been extensively studied to enhance safety and predictability during human-robot interactions [6]- [8]. The robot's joints are also softened by introducing joint mechanisms to reduce impact during static collisions [9], [10], or with variable stiffness actuators (VSA) [11], [12], or series elastic actuators (SEA).…”

Section: Introductionmentioning

confidence: 99%

Mitigating Collision Forces and Improving Response Performance in Human-Robot Interaction by Using Dual-Motor Actuators

Khorasani,

Usman,

Hubert

et al. 2024

IEEE Robot. Autom. Lett.

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In collaborative robotics, the safety of humans interacting with cobots is crucial. There is a need for collaborative robots that can move quickly while still being safe. This paper introduces the use of a kinematically redundant actuator in impedance control mode to reduce collision forces, aiming to improve both the safety and efficiency of collaborative robots. By distributing power across multiple drive-trains, each with unique properties such as reflected inertia, the actuator's behavior during collisions is optimized, which is key for safe interactions. Using theoretical analysis and practical experiments, we evaluate the response performance of the redundant actuator in various collision situations according to ISO/TS 15066, comparing it with that of a standard single-drive actuator. Our experiments show that the redundant actuator significantly lowers collision forces, with a 44% reduction in peak forces and an 81% decrease in transferred impulses during collisions. The paper concludes by offering a design parameter recommendation for designing actuators with reduced reflected inertia.

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“…• In [13], the human reachable sets are further used in a fail-safe planning approach, to reduce the robot speed such that collision force limits can be guaranteed. That approach conforms to power and force limiting as defined in ISO 15066 [12].…”

Section: Introductionmentioning

confidence: 99%

SaRA: A Tool for Safe Human-Robot Coexistence and Collaboration through Reachability Analysis

Schepp

Thumm

Liu

et al. 2022

2022 International Conference on Robotics and Automation (ICRA)

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Current safety mechanisms implementing industry standards for human-robot coexistence separate humans and robots through caging. Other approaches allowing humans to enter the workspace of manipulators do not provide formal safety guarantees. Thus, this study aims to facilitate the widespread adoption of collaborative robots by presenting SaRA, an extensible tool that performs set-based reachability analysis and formally guarantees safety. Our experimental results show that the set-based prediction of a human can be computed in a few microseconds, using SaRA, allowing for real-time consideration of many surrounding humans in an environment.

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Online Verification of Impact-Force-Limiting Control for Physical Human-Robot Interaction

Cited by 7 publications

References 26 publications

Scalable Reachset-Conformant Identification of Linear Systems

Scalable Reachset-Conformant Identification of Linear Systems

Mitigating Collision Forces and Improving Response Performance in Human-Robot Interaction by Using Dual-Motor Actuators

SaRA: A Tool for Safe Human-Robot Coexistence and Collaboration through Reachability Analysis

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