Related papers: A passive admittance controller to enforce Remote …
In physical human-robot interaction, the coexistence of robots and humans in the same workspace requires the guarantee of a stable interaction, trying to minimize the effort for the operator. To this aim, the admittance control is widely…
In laparoscopic robot-assisted minimally invasive surgery, the kinematic control of the robot is subject to the remote center of motion (RCM) constraint at the port of entry (e.g., trocar) into the patient's body. During surgery, after the…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
Rehabilitation tasks demand robust and accurate trajectory-tracking performance, mainly achieved with parallel robots. In this field, limiting the value of the force exerted on the patient is crucial, especially when an injured limb is…
Physical human-robot collaboration requires strict safety guarantees since robots and humans work in a shared workspace. This letter presents a novel control framework to handle safety-critical position-based constraints for human-robot…
In this paper, we present a way of enforcing safety and passivity properties of robot teleoperation systems, where a human operator interacts with a dynamical system modeling the robot. The approach does so in a holistic fashion, by…
This paper proposes a novel fixed-time integral sliding mode controller for admittance control to enhance physical human-robot collaboration. The proposed method combines the benefits of compliance to external forces of admittance control…
Task-space Passivity-Based Control (PBC) for manipulation has numerous appealing properties, including robustness to modeling error and safety for human-robot interaction. Existing methods perform poorly in singular configurations, however,…
Human interaction introduces two main constraints: Safety and Comfort. Therefore service robot manipulator can't be controlled like industrial robotic manipulator where personnel is isolated from the robot's work envelope. In this paper, we…
Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot, achieve goals like precise tracking, stability and disturbance rejection are very important. In this paper, first the stages of modeling and simulating of…
Physical Human-Robot Interaction (pHRI) task involves tight coupling between safety constraints and compliance with human intentions. In this paper, a novel switched model reference admittance controller is developed to maintain compliance…
In multi-point contact systems, precise force control is crucial for achieving stable and safe interactions between robots and their environment. Thus, we demonstrate an admittance controller with auto-tuning that can be applied for these…
Contact force in contact-rich environments is an essential modality for robots to perform general-purpose manipulation tasks, as it provides information to compensate for the deficiencies of visual and proprioceptive data in collision…
This paper explores a physical human-robot collaboration (pHRC) task involving the joint insertion of a board into a frame by a sightless robot and a human operator. While admittance control is commonly used in pHRC tasks, it can be…
Humans can effortlessly perform very complex, dexterous manipulation tasks by reacting to sensor observations. In contrast, robots can not perform reactive manipulation and they mostly operate in open-loop while interacting with their…
Force interaction is inevitable when robots face multiple operation scenarios. How to make the robot competent in force control for generalized operations such as multi-tasks still remains a challenging problem. Aiming at the…
As robots shift from industrial to human-centered spaces, adopting mobile manipulators, which expand workspace capabilities, becomes crucial. In these settings, seamless interaction with humans necessitates compliant control. Two common…
This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot which is governed by the nonlinear equation of motion. Passivity allows us to include a human operator and environmental…
This paper presents a switched model reference admittance control framework to achieve safe and compliant human-robot collaboration through reference trajectory shaping. The proposed method generates variable admittance parameters according…