Admittance control allows a desired dynamic behavior to be reproduced on a non-backdrivable manipulator and it has been widely used for interaction control and, in particular, for human–robot collaboration. Nevertheless, stability problems arise when the environment (e.g. the human) the robot is interacting with becomes too stiff. In this paper, we investigate the stability issues related to a change of stiffness of the human arm during the interaction with an admittance-controlled robot. We propose a novel method for detecting the rise of instability and a passivity-preserving strategy for restoring a stable behavior. The results of the paper are validated on two robotic setups and with 50 users performing two tasks that emulate industrial operations.

A variable admittance control strategy for stable physical human–robot interaction / Ferraguti, Federica; Talignani Landi, Chiara; Sabattini, Lorenzo; Bonfè, Marcello; Fantuzzi, Cesare; Secchi, Cristian. - In: THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH. - ISSN 0278-3649. - 38:6(2019), pp. 747-765. [10.1177/0278364919840415]

A variable admittance control strategy for stable physical human–robot interaction

Ferraguti, Federica;Talignani Landi, Chiara;Sabattini, Lorenzo;Bonfè, Marcello;Fantuzzi, Cesare;Secchi, Cristian
2019

Abstract

Admittance control allows a desired dynamic behavior to be reproduced on a non-backdrivable manipulator and it has been widely used for interaction control and, in particular, for human–robot collaboration. Nevertheless, stability problems arise when the environment (e.g. the human) the robot is interacting with becomes too stiff. In this paper, we investigate the stability issues related to a change of stiffness of the human arm during the interaction with an admittance-controlled robot. We propose a novel method for detecting the rise of instability and a passivity-preserving strategy for restoring a stable behavior. The results of the paper are validated on two robotic setups and with 50 users performing two tasks that emulate industrial operations.
11-apr-2019
38
6
747
765
A variable admittance control strategy for stable physical human–robot interaction / Ferraguti, Federica; Talignani Landi, Chiara; Sabattini, Lorenzo; Bonfè, Marcello; Fantuzzi, Cesare; Secchi, Cristian. - In: THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH. - ISSN 0278-3649. - 38:6(2019), pp. 747-765. [10.1177/0278364919840415]
Ferraguti, Federica; Talignani Landi, Chiara; Sabattini, Lorenzo; Bonfè, Marcello; Fantuzzi, Cesare; Secchi, Cristian
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/1175733
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