Said G. Khan
Compliance control and human-Robot interaction: Part 1-survey
Khan, Said G.; Herrmann, Guido; Grafi, Mubarak Al; Pipe, Tony; Melhuish, Chris
Authors
Guido Herrmann
Mubarak Al Grafi
Tony Pipe Anthony.Pipe@uwe.ac.uk
Professor
Chris Melhuish Chris.Melhuish@uwe.ac.uk
Professor of Robotics & Autonomous Systems
Abstract
© World Scientific Publishing Company. Compliance control is highly relevant to human safety in human-robot interaction (HRI). This paper presents a review of various compliance control techniques. The paper is aimed to provide a good background knowledge for new researchers and highlight the current hot issues in compliance control research. Active compliance, passive compliance, adaptive and reinforcement learning-based compliance control techniques are discussed. This paper provides a comprehensive literature survey of compliance control keeping in view physical human robot interaction (pHRI) e.g., passing an object, such as a cup, between a human and a robot. Compliance control may eventually provide an immediate and effective layer of safety by avoiding pushing, pulling or clamping in pHRI. Emerging areas such as soft robotics, which exploit the deformability of biomaterial as well as hybrid approaches which combine active and passive compliance are also highlighted.
Citation
Khan, S. G., Herrmann, G., Grafi, M. A., Pipe, T., & Melhuish, C. (2014). Compliance control and human-Robot interaction: Part 1-survey. International Journal of Humanoid Robotics, 11(03), 1430001. https://doi.org/10.1142/S0219843614300013
Journal Article Type | Article |
---|---|
Acceptance Date | Jun 10, 2014 |
Publication Date | Jan 1, 2014 |
Journal | International Journal of Humanoid Robotics |
Print ISSN | 0219-8436 |
Publisher | World Scientific Publishing |
Peer Reviewed | Peer Reviewed |
Volume | 11 |
Issue | 03 |
Pages | 1430001 |
DOI | https://doi.org/10.1142/S0219843614300013 |
Keywords | compliance, impedance, humanoids, optimal adaptive control, HRI, pHRI |
Public URL | https://uwe-repository.worktribe.com/output/825064 |
Publisher URL | http://dx.doi.org/10.1142/S0219843614300013 |
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