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Compliance control and human-robot interaction: Part II-experimental examples

Pipe, Tony; Khan, Said G.; Herrmann, Guido; Lenz, Alexander; Grafi, Mubarak Al; Pipe, Anthony G.; Melhuish, Chris


Tony Pipe

Said G. Khan

Guido Herrmann

Alexander Lenz

Mubarak Al Grafi

Chris Melhuish
Professor of Robotics & Autonomous Systems


© World Scientific Publishing Company. 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 (DOF) 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 along with a speech interface. The experiment is focused on passing an object (a cup) between a human and a robot. Compliance is providing an immediate layer of safety for this HRI scenario by avoiding pushing, pulling or clamping and minimizing the effect of collisions with the environment.


Pipe, T., Khan, S. G., Herrmann, G., Lenz, A., Grafi, M. A., Pipe, A. G., & Melhuish, C. (2014). Compliance control and human-robot interaction: Part II-experimental examples. International Journal of Humanoid Robotics, 11(03), 1430002.

Journal Article Type Review
Acceptance Date Jun 8, 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 1430002
Keywords compliance, impedance, humanoids, optimal adaptive control, HRI, pHRI
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