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

Abstract

© 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.

• Journal Article Type: Review
• Acceptance Date: Jun 8, 2014
• Publication Date: Jan 1, 2014
• Journal: International Journal of Humanoid Robotics
• Print ISSN: 0219-8436
• Electronic ISSN: 1793-6942
• Publisher: World Scientific Publishing
• Peer Reviewed: Peer Reviewed
• Volume: 11
• Issue: 03
• Pages: 1430002
• DOI: https://doi.org/10.1142/S0219843614300025
• Keywords: compliance, impedance, humanoids, optimal adaptive control, HRI, pHRI
• Public URL: https://uwe-repository.worktribe.com/output/825077
• Publisher URL: http://dx.doi.org/10.1142/S0219843614300025