Experimental study on task space control during physical human robot interaction

Hamid Sadeghian; Luigi Villani; Mehdi Keshmiri; Bruno Siciliano

doi:10.1109/ICRoM.2014.6990888

Experimental study on task space control during physical human robot interaction

Hamid Sadeghian, Luigi Villani, Mehdi Keshmiri, Bruno Siciliano

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

In this paper new approaches for task space control during null space compliance control of a kinematically redundant robot are studied. The approaches are useful for the case where the robot experiences an external interaction on its body, especially in the human environments. The proposed algorithms guarantee safe reaction of the robot during intentional or accidental interaction by exploiting robot's redundancy through null space impedance control. The algorithms do not require joint torque measurements. The performances of the proposed controllers are verified through a variety of experiments on 7R KUKA lightweight robot arm.

Original language	English
Title of host publication	2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	125-130
Number of pages	6
ISBN (Electronic)	9781479967438
DOIs	https://doi.org/10.1109/ICRoM.2014.6990888
State	Published - 17 Dec 2014
Externally published	Yes
Event	2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 - Tehran, Iran, Islamic Republic of Duration: 15 Oct 2014 → 17 Oct 2014

Publication series

Name	2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014

Conference

Conference	2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014
Country/Territory	Iran, Islamic Republic of
City	Tehran
Period	15/10/14 → 17/10/14

Keywords

Human Robot Interaction
Interaction Observer
Null space impedance
Task space control

Access to Document

10.1109/ICRoM.2014.6990888

Cite this

Sadeghian, H., Villani, L., Keshmiri, M., & Siciliano, B. (2014). Experimental study on task space control during physical human robot interaction. In 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 (pp. 125-130). Article 6990888 (2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRoM.2014.6990888

Sadeghian, Hamid ; Villani, Luigi ; Keshmiri, Mehdi et al. / Experimental study on task space control during physical human robot interaction. 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 125-130 (2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014).

@inproceedings{b023ea3f428b4ecd85a4a0c350896130,

title = "Experimental study on task space control during physical human robot interaction",

abstract = "In this paper new approaches for task space control during null space compliance control of a kinematically redundant robot are studied. The approaches are useful for the case where the robot experiences an external interaction on its body, especially in the human environments. The proposed algorithms guarantee safe reaction of the robot during intentional or accidental interaction by exploiting robot's redundancy through null space impedance control. The algorithms do not require joint torque measurements. The performances of the proposed controllers are verified through a variety of experiments on 7R KUKA lightweight robot arm.",

keywords = "Human Robot Interaction, Interaction Observer, Null space impedance, Task space control",

author = "Hamid Sadeghian and Luigi Villani and Mehdi Keshmiri and Bruno Siciliano",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 ; Conference date: 15-10-2014 Through 17-10-2014",

year = "2014",

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doi = "10.1109/ICRoM.2014.6990888",

language = "English",

series = "2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014",

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Sadeghian, H, Villani, L, Keshmiri, M & Siciliano, B 2014, Experimental study on task space control during physical human robot interaction. in 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014., 6990888, 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014, Institute of Electrical and Electronics Engineers Inc., pp. 125-130, 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014, Tehran, Iran, Islamic Republic of, 15/10/14. https://doi.org/10.1109/ICRoM.2014.6990888

Experimental study on task space control during physical human robot interaction. / Sadeghian, Hamid; Villani, Luigi; Keshmiri, Mehdi et al.
2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 125-130 6990888 (2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Keshmiri, Mehdi

AU - Siciliano, Bruno

PY - 2014/12/17

Y1 - 2014/12/17

N2 - In this paper new approaches for task space control during null space compliance control of a kinematically redundant robot are studied. The approaches are useful for the case where the robot experiences an external interaction on its body, especially in the human environments. The proposed algorithms guarantee safe reaction of the robot during intentional or accidental interaction by exploiting robot's redundancy through null space impedance control. The algorithms do not require joint torque measurements. The performances of the proposed controllers are verified through a variety of experiments on 7R KUKA lightweight robot arm.

AB - In this paper new approaches for task space control during null space compliance control of a kinematically redundant robot are studied. The approaches are useful for the case where the robot experiences an external interaction on its body, especially in the human environments. The proposed algorithms guarantee safe reaction of the robot during intentional or accidental interaction by exploiting robot's redundancy through null space impedance control. The algorithms do not require joint torque measurements. The performances of the proposed controllers are verified through a variety of experiments on 7R KUKA lightweight robot arm.

KW - Human Robot Interaction

KW - Interaction Observer

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DO - 10.1109/ICRoM.2014.6990888

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BT - 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014

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Sadeghian H, Villani L, Keshmiri M, Siciliano B. Experimental study on task space control during physical human robot interaction. In 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 125-130. 6990888. (2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014). doi: 10.1109/ICRoM.2014.6990888

Experimental study on task space control during physical human robot interaction

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