Port-based modeling of human-robot collaboration towards safety-enhancing energy shaping control

Geravand, M., Shahriari, E., De Luca, A. and Peer, A. (2016) Port-based modeling of human-robot collaboration towards safety-enhancing energy shaping control. In: IEEE International Conference on Robotics and Automation, Stockholm, 16-21 May 2016. Available from: http://eprints.uwe.ac.uk/29156

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While collision detection and contact-related injury reduction in physical human-robot interaction has been studied intensively, safety issues in physical human robot collaboration (pHRC) with continuous coupling of human and robot(s) has received little attention so far. We develop an energy monitoring control system that observes energy flows among the different subsystems involved in pHRC, shaping them to improve human safety according to selected metrics. Port-Hamiltonian formalisms are used to model each sub-system and their interconnection. An energy-based compliance controller that enhances safety by adapting the robot behavior is proposed and validated through extensive simulations.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:port-based modeling, human-robot collaboration
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:29156
Deposited By: Professor A. Peer
Deposited On:17 Jun 2016 12:59
Last Modified:07 Apr 2017 03:33

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