Compliance Control and Human-Robot Interaction: Part II - Experimental Examples

Said G Khan; Guido Herrmann; Alexander Lenz; Mubarak Al Grafi; Anthony G Pipe; Christopher R Melhuish

doi:10.1142/S0219843614300025

Compliance Control and Human-Robot Interaction: Part II - Experimental Examples

Said G Khan, Guido Herrmann, Alexander Lenz, Mubarak Al Grafi, Anthony G Pipe, Christopher R Melhuish

Research output: Contribution to journal › Article (Academic Journal) › peer-review

11 Citations (Scopus)

579 Downloads (Pure)

Abstract

Compliance control is highly relevant to human safety in human robot interaction (HRI). This paper presents multi-dimensional compliance control of a humanoid robot arm. A dynamic model-free adaptive controller with an anti-windup compensator is implemented on four degrees of freedom of a humanoid robot arm. The paper is aimed to compliment the associated review paper on compliance control. This is a model reference adaptive compliance scheme which employs end-effector forces (measured via joint torque sensors) as a feedback. The robot’s body-own torques are separated from external torques via a simple but effective algorithm. In addition, an experiment of physical human robot interaction is conducted employing the above mentioned adaptive compliance control

Original language	English
Article number	1430002
Number of pages	21
Journal	International Journal of Humanoid Robotics
Volume	11
Issue number	3
DOIs	https://doi.org/10.1142/S0219843614300025
Publication status	Published - 6 Aug 2014

Keywords

Compliance
impedance
humanoids
optimal adaptive control
HRI
pHRI

Access to Document

10.1142/S0219843614300025

ComplianControl_IJHR2014_Part_II (1)
Electronic version of an article published as Said G. Khan et al, Int. J. Human. Robot. 11, 1430002 (2014) [21 pages] at DOI: 10.1142/S0219843614300025. © Copyright World Scientific Publishing Company.
Accepted author manuscript, 17.6 MB

Handle.net

Persistent link

Cite this

@article{053f4b34aa644f328e4f95a7d1a6e6c6,

title = "Compliance Control and Human-Robot Interaction: Part II - Experimental Examples",

abstract = "Compliance control is highly relevant to human safety in human robot interaction (HRI). This paper presents multi-dimensional compliance control of a humanoid robot arm. A dynamic model-free adaptive controller with an anti-windup compensator is implemented on four degrees of freedom of a humanoid robot arm. The paper is aimed to compliment the associated review paper on compliance control. This is a model reference adaptive compliance scheme which employs end-effector forces (measured via joint torque sensors) as a feedback. The robot{\textquoteright}s body-own torques are separated from external torques via a simple but effective algorithm. In addition, an experiment of physical human robot interaction is conducted employing the above mentioned adaptive compliance control",

keywords = "Compliance, impedance, humanoids, optimal adaptive control, HRI, pHRI",

author = "Khan, {Said G} and Guido Herrmann and Alexander Lenz and {Al Grafi}, Mubarak and Pipe, {Anthony G} and Melhuish, {Christopher R}",

year = "2014",

month = aug,

day = "6",

doi = "10.1142/S0219843614300025",

language = "English",

volume = "11",

journal = "International Journal of Humanoid Robotics",

issn = "0219-8436",

publisher = "World Scientific Publishing Co.",

number = "3",

}

TY - JOUR

T1 - Compliance Control and Human-Robot Interaction

T2 - Part II - Experimental Examples

AU - Khan, Said G

AU - Herrmann, Guido

AU - Lenz, Alexander

AU - Al Grafi, Mubarak

AU - Pipe, Anthony G

AU - Melhuish, Christopher R

PY - 2014/8/6

Y1 - 2014/8/6

N2 - Compliance control is highly relevant to human safety in human robot interaction (HRI). This paper presents multi-dimensional compliance control of a humanoid robot arm. A dynamic model-free adaptive controller with an anti-windup compensator is implemented on four degrees of freedom of a humanoid robot arm. The paper is aimed to compliment the associated review paper on compliance control. This is a model reference adaptive compliance scheme which employs end-effector forces (measured via joint torque sensors) as a feedback. The robot’s body-own torques are separated from external torques via a simple but effective algorithm. In addition, an experiment of physical human robot interaction is conducted employing the above mentioned adaptive compliance control

AB - Compliance control is highly relevant to human safety in human robot interaction (HRI). This paper presents multi-dimensional compliance control of a humanoid robot arm. A dynamic model-free adaptive controller with an anti-windup compensator is implemented on four degrees of freedom of a humanoid robot arm. The paper is aimed to compliment the associated review paper on compliance control. This is a model reference adaptive compliance scheme which employs end-effector forces (measured via joint torque sensors) as a feedback. The robot’s body-own torques are separated from external torques via a simple but effective algorithm. In addition, an experiment of physical human robot interaction is conducted employing the above mentioned adaptive compliance control

KW - Compliance

KW - impedance

KW - humanoids

KW - optimal adaptive control

KW - HRI

KW - pHRI

U2 - 10.1142/S0219843614300025

DO - 10.1142/S0219843614300025

M3 - Article (Academic Journal)

SN - 0219-8436

VL - 11

JO - International Journal of Humanoid Robotics

JF - International Journal of Humanoid Robotics

IS - 3

M1 - 1430002

ER -

Compliance Control and Human-Robot Interaction: Part II - Experimental Examples

Abstract

Keywords

Access to Document

Handle.net

Fingerprint

Cite this