Admittance control is a widely used approach for guaranteeing a compliant behavior of the robot in physical human-robot interaction. When an admittance-controlled robot is coupled with a human, the dynamics of the human can cause deviations from the desired behavior of the robot, mainly due to a stiffening of the human arm, and thus generate high-frequency unsafe oscillations of the robot. In this paper we present a novel methodology for detecting the rising oscillations in the human-robot interaction. Furthermore, we propose a passivity-preserving strategy to adapt the parameter of the admittance control in order to get rid of the high-frequency oscillations and, when possible, to restore the desired interaction model. A thorough experimental validation of the proposed strategy is performed on a group of 26 users performing a cooperative task.

Variable admittance control preventing undesired oscillating behaviors in physical human-robot interaction / Landi, Chiara Talignani; Ferraguti, Federica; Sabattini, Lorenzo; Secchi, Cristian; Bonfe', Marcello; Fantuzzi, Cesare. - 2017-(2017), pp. 3611-3616. ((Intervento presentato al convegno 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 tenutosi a can nel 2017.

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