Force-Impedance Control for Safe Human-Robot Handovers

• Item type: Symposium(1)
• 公開日: 2021-03-15
• タイトル: Force-Impedance Control for Safe Human-Robot Handovers
• タイトル / 言語: en
• タイトル: Force-Impedance Control for Safe Human-Robot Handovers
• 言語: eng
• 資源タイプ / 資源タイプ識別子: http://purl.org/coar/resource_type/c_5794
• 資源タイプ: conference paper
• 著者所属: Department of Mechanical Engineering, Faculty of Engineering Prince of Songkla University
• 著者所属: Department of Mechanical Engineering, Faculty of Engineering Prince of Songkla University
• 著者所属: Department of Mechanical Engineering, Faculty of Engineering Prince of Songkla University
• 著者所属(英): en
• 著者所属(英): Department of Mechanical Engineering, Faculty of Engineering Prince of Songkla University
• 著者所属(英): en
• 著者所属(英): Department of Mechanical Engineering, Faculty of Engineering Prince of Songkla University
• 著者所属(英): en
• 著者所属(英): Department of Mechanical Engineering, Faculty of Engineering Prince of Songkla University
• 著者名: Tanapong, Sutiphotinun; Paramin, Neranon; Passakorn, Vessakosol
• 著者名(英): Tanapong, Sutiphotinun; Paramin, Neranon; Passakorn, Vessakosol
• 論文抄録 / 内容記述タイプ: Other
• 論文抄録 / 内容記述: One of the crucial challenges to successfully establish a control approach for seamless human-robot object handover is to allow a robot to jointly work together with a human with a safe manner or without the risk of harm or injury by the robot. In this research, Human Support Robot (HSR) has been used in the handover tasks, whose hands were individually attached by a multi-axis force sensor to measure the interactive force acting to the robot end-effector. To adopt the adaptability and robustness in human-robot interaction tasks, robotic force impedance control, which is able to dynamically control the robot motion trajectory and contact force with its environment, has been proposed. The appropriate impedance considered as a mass-spring-damper system has been studied and validated by the object handover testes. The modification of the set of parameters (inertia, damping and stiffness factors) is highly relevant for the cooperative robot behaviour and explained in this paper. Additionally, these results of this study are useful for developing a robotic behaviour-based approach in seamless human-robot handover in future.
• 論文抄録(英) / 内容記述タイプ: Other
• 論文抄録(英) / 内容記述: One of the crucial challenges to successfully establish a control approach for seamless human-robot object handover is to allow a robot to jointly work together with a human with a safe manner or without the risk of harm or injury by the robot. In this research, Human Support Robot (HSR) has been used in the handover tasks, whose hands were individually attached by a multi-axis force sensor to measure the interactive force acting to the robot end-effector. To adopt the adaptability and robustness in human-robot interaction tasks, robotic force impedance control, which is able to dynamically control the robot motion trajectory and contact force with its environment, has been proposed. The appropriate impedance considered as a mass-spring-damper system has been studied and validated by the object handover testes. The modification of the set of parameters (inertia, damping and stiffness factors) is highly relevant for the cooperative robot behaviour and explained in this paper. Additionally, these results of this study are useful for developing a robotic behaviour-based approach in seamless human-robot handover in future.
• 書誌情報: Proceedings of Asia Pacific Conference on Robot IoT System Development and Platform; 巻 2020, p. 65-66, 発行日 2021-03-15
• 出版者 / 言語: ja
• 出版者: 情報処理学会