Variable admittance control preventing undesired oscillating behaviors in physical human-robot interaction
Chiara Talignani Landi, Federica Ferraguti, Lorenzo Sabattini, Cristian Secchi, Marcello Bonfè, Cesare Fantuzzi
Abstract
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.
BibTeX
@inproceedings{iros2017_variableadmittan,
title = {Variable admittance control preventing undesired oscillating behaviors in physical human-robot interaction},
author = {Chiara Talignani Landi and Federica Ferraguti and Lorenzo Sabattini and Cristian Secchi and Marcello Bonfè and Cesare Fantuzzi},
booktitle = {IROS 2017},
year = {2017}
}