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

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

Abstract

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.

Citation

safety-enhancing energy shaping control. Paper presented at IEEE International Conference on Robotics and Automation

• Presentation Conference Type: Conference Paper (unpublished)
• Conference Name: IEEE International Conference on Robotics and Automation
• Start Date: May 16, 2016
• End Date: May 21, 2016
• Acceptance Date: Jan 14, 2016
• Publication Date: Jan 1, 2016
• Peer Reviewed: Peer Reviewed
• Keywords: port-based modeling, human-robot collaboration
• Publisher URL: http://www.icra2016.org/
• Additional Information: Title of Conference or Conference Proceedings : IEEE International Conference on Robotics and Automation