Port-based modeling of human-robot collaboration towards safety-enhancing energy shaping control

Geravand, Milad; Shahriari, Erfan; Luca, Alessandro De; Peer, Angelika

doi:10.1109/icra.2016.7487473

Cited by 11 publications

(6 citation statements)

References 29 publications

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“…Sadrfaridpour et al (Sadrfaridpour & Wang, 2018) proposed a robotic combination control method that enables robots to take active actions based on human motion prediction in human-robot collaboration to ensure efficient execution of collaborative tasks. Geravand et al (Geravand, Shahriari, De Luca, & Peer, 2016) designed an energy monitoring and control system based on the energy flow between different subsystems in human-robot collaboration and adjusted the selected safety measures to improve safety. Alonso-Mora et al (Alonso-Mora, Beardsley, & Siegwart, 2018) proposed a collaborative strategy for partitioned computing safety speed and proposed a collisionfree path calculation method based on the relative speed between the robot and the obstacle.…”

Section: Risk Assessment Of Industrial Robotsmentioning

confidence: 99%

Dynamic risk assessment and active response strategy for industrial human-robot collaboration

Liu

Wang

Cai

et al. 2020

Computers & Industrial Engineering

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Section: Risk Assessment Of Industrial Robotsmentioning

confidence: 99%

Dynamic risk assessment and active response strategy for industrial human-robot collaboration

Liu

Wang

Cai

et al. 2020

Computers & Industrial Engineering

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“…For contact with a pure-stiffness environment, there is established literature for stability [7], [10], [28], and limiting the peak force of a rigid, perfectly backdriveable robot [8] using inelastic/elastic collision models. Energy-based planning methods have also been introduced, to bound kinetic energy in robot links [23], or bound maximum power flow between robot and environment [29].…”

Section: /2mentioning

confidence: 99%

Bounded Collision Force by the Sobolev Norm

Haninger

Šurdilović

2019

2019 International Conference on Robotics and Automation (ICRA)

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A robot making contact with an environment or human presents potential safety risks, including excessive collision force. While experiments on the effect of robot inertia, relative velocity, and interface stiffness on collision are in literature, analytical models for maximum collision force are limited to a simplified mass-spring robot model. This simplified model limits the analysis of control (force/torque, impedance, or admittance) or compliant robots (joint and end-effector compliance). Here, the Sobolev norm is adapted to be a system norm, giving rigorous bounds on the maximum force on a stiffness element in a general dynamic system, allowing the study of collision with more accurate models and feedback control. The Sobolev norm can be found through the H2 norm of a transformed system, allowing efficient computation, connection with existing control theory, and controller synthesis to minimize collision force. The Sobolev norm is validated, first experimentally with an admittance-controlled robot, then in simulation with a linear flexible-joint robot. It is then used to investigate the impact of control, joint flexibility and end-effector compliance on collision, and a trade-off between collision performance and environmental estimation uncertainty is shown.

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“…Additionally, the internal wrenches applied on the object are zero. The experiment is conducted with a robotic system of two KUKA LWR manipulators, mounted on a movable platform and depicted in the fig (5). The sampling time is 1 ms.…”

Section: Energy Shaped Stiffness and Dampingmentioning

confidence: 99%

“…Teleoperation of coordinated robot teams was studied in the port-Hamiltonian formulation [4]. Recently, physical human-robot team interaction in a cooperative manipulation set-up was modeled in the port-Hamiltonian framework [5]. However, modeling robot formation as a constrained port-Hamiltonian system is not done so far.…”

Section: Introductionmentioning

confidence: 99%

Port-Hamiltonian based control for human-robot team interaction

Angerer

Musić

Hirche

2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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In this paper we consider a human commanding the overall behavior of a robot team while the robots are controlled to comply with formation constraints. Such humanrobot team interaction is challenging in terms of system complexity and control synthesis. The port-Hamiltonian framework is suitable for modeling the interconnected systems. We model the robotic team, cooperatively manipulating an object, as a constrained port-Hamiltonian system. Furthermore, we propose a passivity-based control approach in the port-Hamiltonian framework for the cooperative manipulation system guided by the human. The control mechanism is based on the energy shaping for achieving a desired behavior of the formation and its preservation. An energy tank in the cascade is introduced to guarantee passivity of the complete system and safe interaction with humans in the robot environment. We validate the proposed approach with simulation and experiments.

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Port-based modeling of human-robot collaboration towards safety-enhancing energy shaping control

Cited by 11 publications

References 29 publications

Dynamic risk assessment and active response strategy for industrial human-robot collaboration

Dynamic risk assessment and active response strategy for industrial human-robot collaboration

Bounded Collision Force by the Sobolev Norm

Port-Hamiltonian based control for human-robot team interaction

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