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

Said G. Khan, Guido Herrmann, Alexander Lenz, Mubarak Al Grafi, Tony Pipe, Chris Melhuish

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    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.
    Original languageEnglish
    JournalInternational Journal of Humanoid Robotics
    Issue number3
    Publication statusPublished - 6 Aug 2014


    • Compliance
    • impedance
    • humanoids
    • optimal adaptive control
    • HRI
    • pHRI


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