The Art of Not Getting Smacked: ISO/TS 15066-Compliant Variable Admittance Control for Safe Human-Robot Interaction
Matteo Nini, Andrea Pupa, Cristian Secchi, Cesare Fantuzzi, Federica Ferraguti
Abstract
Ensuring safe and effective physical human-robot interaction (pHRI) remains a critical challenge in industrial robotics, particularly in ensuring compliance with ISO/TS 15066 safety standards. This paper proposes a novel framework to achieve a safe and robust physical human-robot interaction (pHRI). The framework adapts the parameters of a variable admittance controller online in order to guarantee passivity and compliance with ISO/TS 15066. Passivity is guaranteed using an energy tank, while a safety constraint explicitly handles the Power and Force Limiting (PFL) energy limit. Experimental validation on an industrial robot demonstrates the effectiveness of the framework.
BibTeX
@inproceedings{iros2025_theartofnotgetti,
title = {The Art of Not Getting Smacked: ISO/TS 15066-Compliant Variable Admittance Control for Safe Human-Robot Interaction},
author = {Matteo Nini and Andrea Pupa and Cristian Secchi and Cesare Fantuzzi and Federica Ferraguti},
booktitle = {IROS 2025},
year = {2025}
}