Variable admittance control of a four-degree-of-freedom intelligent assist device

Lecours, Alexandre; Mayer-St-Onge, Boris; Gosselin, Clément

doi:10.1109/icra.2012.6224586

Cited by 191 publications

(154 citation statements)

References 13 publications

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“…The existing methods for future trajectory estimation in [27,30,32] cannot be directly applied to our application, where the human user walks with the robot and frequently varies his/her direction of motion. Consequently, the force information is often a result of body dynamics rather than a sign of human intention.…”

Section: Compensating For the Human's Future Trajectoriesmentioning

confidence: 99%

See 1 more Smart Citation

Stability and Variable Admittance Control in the Physical Interaction with a Mobile Robot

Wang¹,

Patota²,

Buondonno³

et al. 2015

Int. j. adv. robot. syst.

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Admittance controllers have been widely implemented in physical human/robot interaction (pHRI). The stability criteria and the parameter adaptation methods for admittance control have been well-studied. However, the established methods have mainly focused on human/ manipulator interaction, and cannot be directly extended to mobile robot-based pHRI, in which the nonlinearity cannot be cancelled by feedback linearizations and the measurements of the relative human/robot position and orientation are usually lacking. In this paper, we study the pHRI between a human user and a mobile robot under admittance control. We develop a robotic system which can measure the relative chest/ankle positions of the human user with respect to the robot. Using the measured human position, a human frame admittance controller is proposed to remove the nonlinearity in the system dynamics. Based on the human-frame admittance control, a stability criterion is derived. By using a human arm stiffness estimator along with the derived stability criterion, a stiffness-based variable admittance controller is designed. The effectiveness of the proposed methods in improving the pHRI performance is tested and supported by simulations and experimental results.

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Section: Compensating For the Human's Future Trajectoriesmentioning

confidence: 99%

“…Therefore, the pHRI stability is often subject to the human arm's stiffness and the admittance parameters. To find appropriate admittance parameters that stabilize the pHRI for a given stiffness, the stability criteria for admittance controllers have been well-studied, especially in human/manipulator interaction [26,27,30,33,35].…”

Section: Introductionmentioning

confidence: 99%

Stability and Variable Admittance Control in the Physical Interaction with a Mobile Robot

Wang¹,

Patota²,

Buondonno³

et al. 2015

Int. j. adv. robot. syst.

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“…Figure 1 presents the control scheme, in which the velocity controller used in the experiments is of the proportional type. Previous experiments showed the effectiveness of proportional gain, 31 thus allowing us to avoid the drawbacks of increased acceleration noise due to the derivative gain and possible decreases in bandwidth due to the integral term (by accumulating error history from human input).…”

Section: Modeling Physical Interactionmentioning

confidence: 99%

“…Velocity control is used here, as chosen previously [28][29][30] and later explained: 31 with position control, the IAD would be attracted to a given reference position that does not represent the desired human behavior. Figure 1 presents the control scheme, in which the velocity controller used in the experiments is of the proportional type.…”

Section: Modeling Physical Interactionmentioning

confidence: 99%

Modeling of physical human–robot interaction

Campeau-Lecours

Otis

Gosselin

2016

International Journal of Advanced Robotic Systems

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Enhancement of human performance using an intelligent assist device is becoming more common. In order to achieve effective augmentation of human capacity, cooperation between human and robot must be safe and very intuitive. Ensuring such collaboration remains a challenge, especially when admittance control is used. This paper addresses the issues of transparency and human perception coming from vibration in admittance control schemes. Simulation results obtained with our suggested improved model using an admittance controller are presented, then four models using transfer functions are discussed in detail and evaluated as a means of simulating physical human-robot interaction using admittance control. The simulation and experimental results are then compared in order to assess the validity and limitations of the proposed models in the case of a four-degree-of-freedom intelligent assist device designed for large payload.

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“…The software which integrates the gantry, robot arm, and robot gripper under a single controller was developed under this thrust, as well as capabilities such as the compliant control of the kinematic chain and backdrive capabilities [7,12,13]. …”

Section: Thrustmentioning

confidence: 99%