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Compliance Control and Human–Robot Interaction: Part II — Experimental Examples

Department of Mechanical Engineering, College of Engineering Yanbu, Taibah University, Al Madinah, Saudi Arabia

Corresponding author.

Bristol Robotics Lab (BRL) and Mechanical Engineering Department, University of Bristol, Queen's Building, University Walk, Clifton, Bristol BS8 1TR, UK

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Alexander Lenz

Bristol Robotics Laboratory, University of the West of England, T Block, Frenchay Campus, Coldharbour Lane, Bristol, BS116 1QY, UK

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Mubarak Al Grafi

Taibah University, Al Madinah, University Road, Medina, Kingdom of Saudi Arabia

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Tony Pipe

Bristol Robotics Laboratory, University of the West of England, T Block, Frenchay Campus, Coldharbour Lane, Bristol, BS116 1QY, UK

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, and

Chris Melhuish

Bristol Robotics Laboratory, University of Bristo, UK

Bristol Robotics Laboratory, University of the West of England, T Block, Frenchay Campus, Coldharbour Lane, Bristol, BS16 1QY, UK

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https://doi.org/10.1142/S0219843614300025Cited by:8 (Source: Crossref)

Abstract

Compliance control is highly relevant to human safety in human–robot interaction (HRI). This paper presents multi-dimensional compliance control of a humanoid robot arm. A dynamic model-free adaptive controller with an anti-windup compensator is implemented on four degrees of freedom (DOF) of a humanoid robot arm. The paper is aimed to compliment the associated review paper on compliance control. This is a model reference adaptive compliance scheme which employs end-effector forces (measured via joint torque sensors) as a feedback. The robot's body-own torques are separated from external torques via a simple but effective algorithm. In addition, an experiment of physical human robot interaction is conducted employing the above mentioned adaptive compliance control along with a speech interface. The experiment is focused on passing an object (a cup) between a human and a robot. Compliance is providing an immediate layer of safety for this HRI scenario by avoiding pushing, pulling or clamping and minimizing the effect of collisions with the environment.

Keywords:

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