ROLE ADAPTIVE ADMITTANCE CONTROLLER FOR HUMAN-ROBOT CO-MANIPULATION
Waldez Gomes1; Fernando Lizarralde1
1 Universidade Federal do Rio de Janeiro
Baixar PDF doi:10.20906/CPS/CBA2018-1138
Resumo
To both decrease the physical toll on a human worker, and increase a robot's environment perception, a human-robot dyad may be used to co-manipulate a shared object. Most of the control strategies assign to the robot the role of a follower to the human's actions even though there are situations in which the human may benefit from robot leadership. In order to emulate the human behavior during a co-manipulation task, an admittance controller with varying stiffness is presented here. The stiffness is continuously varied based on a scalar and smooth function that assigns a degree of leadership to the robot. Furthermore, the controller is evaluated through robot simulation environments, and its stability is analyzed using Lyapunov.
Palavras-chave: Physical human-robot interaction; Adaptive admittance control; Co-Manipulation; Human-Robot collaboration