Abstract
In this work a control strategy combining admittance control with haptic cues is proposed for varying robot arm-hand target impedances in tasks involving physical Human Robot Interaction (pHRI). External force and robot state measurements are employed to initiate task phase transitions which further involve switching to appropriate target impedances. Three tasks typical for domestic robot assistance are demonstrated experimentally showing safe and natural interactions.
This research is co-financed by the EU-ESF and Greek national funds through the operational program “Education and Lifelong Learning” of the National Strategic Reference Framework (NSRF) - Research Funding Program ARISTEIA I under Grant PIROS/506.
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Sarantopoulos, I., Papageorgiou, D., Doulgeri, Z. (2015). Task-Based Variation of Active Compliance of Arm/Hand Robots in Physical Human Robot Interactions. In: Dixon, C., Tuyls, K. (eds) Towards Autonomous Robotic Systems. TAROS 2015. Lecture Notes in Computer Science(), vol 9287. Springer, Cham. https://doi.org/10.1007/978-3-319-22416-9_28
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DOI: https://doi.org/10.1007/978-3-319-22416-9_28
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