Safe acting and manipulation in human environments: A key concept for robots in our society

Haddadin, Sami; Parusel, Sven; Belder, Rico; Albu-Schäffer, Alin; Hirzinger, Gerd

doi:10.1109/arso.2011.6301962

Cited by 4 publications

(2 citation statements)

References 22 publications

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“…Backdrivability is essential for good natural mechanical behavior by permitting accurate feed-forward force control in the face of disturbances (Townsend and Salisbury, 1989) and for stable control of contact forces. Regarding simple impedance control, which is the most widely used control approach when physical interaction is intended with robots (Albu-Schäffer et al, 2008;Haddadin et al, 2011), stability and performance get better as the inherent robot impedance decreases. For this reason, this type of controller performs particularly well when used in conjunction with highly backdrivable devices which inherently have low inertia and low friction (Hogan, 1985).…”

Section: Backdrivabilitymentioning

confidence: 99%

Design of a fully modular and backdrivable dexterous hand

Martin

Grossard

2014

The International Journal of Robotics Research

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This paper presents the mechatronic design of a new anthropomorphic hand. It has been developed in the context of a multidisciplinary project which aims at understanding how humans perform the manipulation of objects in order to replicate grasping and in-hand movements with an artificial hand. This has required the development of a new hand with a high level of both anthropomorphism and dexterity. The hand must exactly replicate the kinematics of the human hand, adding up to 24 degrees of mobility and 20 degrees of freedom, which is a design challenge if a high level of dexterity must be guaranteed. Three key concepts have guided the mechanical design: modularity, backdrivability and mechanical simplicity. A modular approach simplifies the complex hand assembly and permits us to concentrate our efforts on one basic unit which will be replicated throughout the hand. Mechanical simplicity and backdrivability ensure a good natural mechanical behavior, essential for stable control of contact forces. Likewise, a better controllability will enhance the dexterity of the hand. A thorough mechanical design assures backdrivability through the whole mechanism, including actuators and transmission of movement to the joints. Experimental results confirm the validity of the design approach and will open new lines of research into robotic hands.

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Section: Backdrivabilitymentioning

confidence: 99%

Design of a fully modular and backdrivable dexterous hand

Martin

Grossard

2014

The International Journal of Robotics Research

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“…The safety issue is particularly stressed when robots are working in close distance to humans in industrial [1][2][3][4][5][6] and domestic applications [7][8][9]. However, in most cases where robots' are programmed to achieve some predefined tasks, only performance indexes such as tracking error are concerned.…”

Section: Introductionmentioning

confidence: 99%

Virtual Impedance Control for Safe Human-Robot Interaction

Cheng

Huang

2015

J Intell Robot Syst

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Collision avoidance is essential for safe robot manipulation. Especially with humans around, robots should work only when safety can be robustly guaranteed. In this paper, we propose using virtual impedance control for reactive, smooth, and consistent collision avoidance that interferes minimally with the original task. The virtual impedance control operates in the risk space, a vector space describing the possibilities of all forthcoming collisions, and is designed to elude all risks in a consistent response in order to create assuring human-robot interaction experiences. The proposed scheme intrinsically handles kinematic singularity and the activation of avoidance using a boundary layer defined on the spectrum of Jacobian. In cooperation with the original controller, the proposed avoidance scheme provides a proof of convergence if the original controller is stable with and without projection. In simulations and experiments, we verified the characteristics of the proposed control scheme and integrated the system with Microsoft Electronic supplementary material The online version of this article (Kinect to monitor the workspace for real-time collision detection and avoidance. The results show that the proposed approach is suitable for robot operation with humans nearby.

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