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Port-based modeling of human-robot collaboration towards safety-enhancing energy shaping control

Geravand, Milad; Shahriari, Erfan; De Luca, Alessandro; Peer, Angelika


Milad Geravand

Erfan Shahriari

Alessandro De Luca


While collision detection and contact-related injury reduction in physical human-robot interaction has been studied intensively, safety issues in physical human robot collaboration (pHRC) with continuous coupling of human and robot(s) has received little attention so far. We develop an energy monitoring control system that observes energy flows among the different subsystems involved in pHRC, shaping them to improve human safety according to selected metrics. Port-Hamiltonian formalisms are used to model each sub-system and their interconnection. An energy-based compliance controller that enhances safety by adapting the robot behavior is proposed and validated through extensive simulations.

Presentation Conference Type Conference Paper (unpublished)
Start Date May 16, 2016
Publication Date Jan 1, 2016
Peer Reviewed Peer Reviewed
APA6 Citation safety-enhancing energy shaping control. Paper presented at IEEE International Conference on Robotics and Automation
Keywords port-based modeling, human-robot collaboration
Publisher URL
Additional Information Title of Conference or Conference Proceedings : IEEE International Conference on Robotics and Automation


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