DocumentCode
158706
Title
A physical Human Robot Interaction architecture for flexible joint robots
Author
Atawnih, Abdelrahem ; Doulgeri, Zoe ; Rovithakis, George A.
Author_Institution
Dept. of Electr. & Comput. Eng., Aristotle Univ. of Thessaloniki, Thessaloniki, Greece
fYear
2014
fDate
16-19 June 2014
Firstpage
1464
Lastpage
1469
Abstract
In this work a physical Human Robot Interaction (pHRI) architecture for flexible joint robot is proposed. At its core, a prescribed performance tracking controller is designed at the operational space, to guarantee fast, accurate and robust position tracking. Assuming that a sensing and interpretation task of the human touch is accomplished, a position reference shaping signal reflecting the desired robot reaction is produced. Simulation studies are performed to clarify and verify the approach.
Keywords
control system synthesis; human-robot interaction; position control; flexible joint robots; pHRI architecture; physical human robot interaction architecture; position reference shaping signal; robust position tracking; Dynamics; Elasticity; Force; Impedance; Joints; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Automation (MED), 2014 22nd Mediterranean Conference of
Conference_Location
Palermo
Print_ISBN
978-1-4799-5900-6
Type
conf
DOI
10.1109/MED.2014.6961582
Filename
6961582
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