Preference-Based Optimization of a Human-Robot Collaborative Controller

Maccarini, Marco; Pura, Filippo; Piga, Dario; Roveda, Loris; Mantovani, LG; Braghin, Francesco

doi:10.1016/j.ifacol.2023.01.126

Cited by 6 publications

(2 citation statements)

References 10 publications

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“…Energy-based control methods have also been proposed to enable safe human-robot interaction by adapting position trajectory references in correlation with set maximum values of the position-based controller [184,185]. Other variable impedance control frameworks can be found in [186][187][188][189][190], where preference-based optimization has also been exploited to customize the robot controller on the basis of the user's feedback [191]. Vanderborght et al provided an extensive overview of variable impedance actuators (VIAs), classifying actuators based on the implementation of variable stiffness and damping [192].…”

Section: Post-collision Strategiesmentioning

confidence: 99%

Enhancing Disassembly Practices for Electric Vehicle Battery Packs: A Narrative Comprehensive Review

Beghi,

Braghin,

Roveda

2023

Designs

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In the context of current societal challenges, such as climate neutrality, industry digitization, and circular economy, this paper addresses the importance of improving recycling practices for electric vehicle (EV) battery packs, with a specific focus on lithium–ion batteries (LIBs). To achieve this, the paper conducts a systematic review (using Google Scholar, Scopus, and Web of Science as search engines), considering the last 10 years, to examine existing recycling methods, robotic/collaborative disassembly cells, and associated control techniques. The aim is to provide a comprehensive and detailed review that can serve as a valuable resource for future research in the industrial domain. By analyzing the current state of the field, this review identifies emerging needs and challenges that need to be addressed for the successful implementation of automatic robotic disassembly cells for end-of-life (EOL) electronic products, such as EV LIBs. The findings presented in this paper enhance our understanding of recycling practices and lay the groundwork for more precise research directions in this important area.

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Section: Post-collision Strategiesmentioning

confidence: 99%

Enhancing Disassembly Practices for Electric Vehicle Battery Packs: A Narrative Comprehensive Review

Beghi,

Braghin,

Roveda

2023

Designs

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“…Inverse kinematics is implemented to determine the expected joint coordinate matrix q d for each joint to achieve robot motion control. The control gains are tuned by referencing [33]. Additionally, FK is applied to the real-time joint coordinate q of the robot to obtain the real-time coordinate S (x , y , z ) of the moving point in the end-effector.…”

Section: Variable Stiffness Admittance Strategymentioning

confidence: 99%

A Safe Admittance Boundary Algorithm for Rehabilitation Robot Based on Space Classification Model

Tao

Han

et al. 2023

Applied Sciences

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Existing studies on rehabilitation robots are generally devoted to robot-assisted active rehabilitation training, which is conducive to facilitating muscle and nerve regeneration. However, human–robot interaction (HRI) requires imposing a limit on the workspace within which the robot operates, so as to ensure patient safety. A safe admittance boundary algorithm for a rehabilitation robot is proposed based on the space classification model which works by constructing a virtual boundary for the HRI workspace in the control layer. First, point cloud isodensification is performed for the workspaces within which the human body and the robot operate. Next, the nearest neighbor density is determined for the point cloud, and the space classification model is built on this basis. Finally, the space classification model is integrated with admittance control to derive the safe admittance boundary algorithm, which can be used for safety control. This algorithm is then subjected to space verification experiments and out–of–bounds experiments using a dynamic arm simulator (DAS). As indicated by the experimental results, when the side length of the voxel grid for voxel center filtering is set to 0.06 m, the accuracy of space definition is 98.40%. The average maximum response time for out–of–bounds behaviors is 165.62 ms. The safe admittance boundary algorithm can impose reasonable virtual constraints on the robot workspace, thereby improving HRI safety.

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A framework for human–robot collaboration enhanced by preference learning and ergonomics

Meregalli Falerni,

Pomponi,

Karimi

et al. 2024

Robotics and Computer-Integrated Manufacturing

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Preference-Based Optimization of a Human-Robot Collaborative Controller

Cited by 6 publications

References 10 publications

Enhancing Disassembly Practices for Electric Vehicle Battery Packs: A Narrative Comprehensive Review

Enhancing Disassembly Practices for Electric Vehicle Battery Packs: A Narrative Comprehensive Review

A Safe Admittance Boundary Algorithm for Rehabilitation Robot Based on Space Classification Model

A framework for human–robot collaboration enhanced by preference learning and ergonomics

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