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

Khan, S. G., Herrmann, G., Lenz, A., Al Grafi, M., Pipe, A. G. and Melhuish, C. (2014) Compliance Control and Human–Robot Interaction: Part II — Experimental Examples. International Journal of Humanoid Robotics, 11 (03). p. 1430002. ISSN 0219-8436 Available from:

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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.

Item Type:Article
Uncontrolled Keywords:compliance, impedance, humanoids, optimal adaptive control, HRI, pHRI
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:28909
Deposited By: B. Jones
Deposited On:23 May 2016 11:09
Last Modified:09 Jun 2016 11:33

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