Real-time reactive motion generation based on variable attractor dynamics and shaped velocities
Sami Haddadin,Holger Urbanek,Sven Parusel,Darius Burschka,Jurgen Rossmann,Alin Albu-Schaffer,Gerd Hirzinger +6 more
- 03 Dec 2010
- pp 3109-3116
TL;DR: A novel method for motion generation and reactive collision avoidance that can, due to its low complexity, run in the inner most control loop of the robot, which is absolutely crucial for safe Human Robot Interaction.
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Abstract: This paper describes a novel method for motion generation and reactive collision avoidance. The algorithm performs arbitrary desired velocity profiles in absence of external disturbances and reacts if virtual or physical contact is made in a unified fashion with a clear physically interpretable behavior. The method uses physical analogies for defining attractor dynamics in order to generate smooth paths even in presence of virtual and physical objects. The proposed algorithm can, due to its low complexity, run in the inner most control loop of the robot, which is absolutely crucial for safe Human Robot Interaction. The method is thought as the locally reactive real-time motion generator connecting control, collision detection and reaction, and global path planning.
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Figures
Fig. 8. 3D plot of the collision avoidance experiment with the Billiard balls. 
Fig. 6. Block diagram of the proposed method. 
Fig. 7. Configuration of Billiard balls (left). 2D plot of the collision avoidance experiment with the Billiard balls (right). 
Fig. 9. Time courses of the avoidance in x-direction (left) and y-direction (right). The plot shows the desired trajectory xd and the real motion of the robot x. 
Fig. 1. Design steps for the proposed algorithm. 
Fig. 11. The plot depicts the behavior for being pushed by a human. After contact is lost, the robot recovers quickly from it and converges to the goal configuration.
Citations
A depth space approach to human-robot collision avoidance
Fabrizio Flacco,Torsten Kröger,Alessandro De Luca,Oussama Khatib +3 more
- 14 May 2012
TL;DR: A fast method to evaluate distances between the robot and possibly moving obstacles (including humans), based on the concept of depth space, is used to generate repulsive vectors that are used to control the robot while executing a generic motion task.
•Book
A Survey of Methods for Safe Human-Robot Interaction
Przemyslaw A. Lasota,Terrence Fong,Julie A. Shah +2 more
- 22 May 2017
TL;DR: A Survey of Methods for Safe Human-Robot Interaction organizes and summarizes the large body of research related to facilitation of safe human-robot interaction and organizes them into subcategories, characterizes relationships between the strategies, and identifies potential gaps in the existing knowledge that warrant further research.
Physical Human–Robot Interaction
Sami Haddadin,Elizabeth A. Croft +1 more
- 01 Jan 2016
TL;DR: This paper presents novel lightweight robot designs and interaction control schemes that advance beyond the current capacities of existing high-payload and high-precision position-controlled industrial robots.
244
A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots.
Alin Albu-Schaffer,Christian Ott,Gerd Hirzinger +2 more
- 01 Jan 2005
TL;DR: This paper describes a general passivity-based framework for the control of flexible joint robots and shows how, based only on the motor angles, a potential function can be designed which simultaneously incorporates gravity compensation and a desired Cartesian stiffness relation for the link angles.
193
•Posted Content
Riemannian Motion Policies.
TL;DR: RMPs are easy to implement and manipulate, simplify controller design, clarify a number of open questions around how to effectively combine existing techniques, and their properties of geometric consistency make feasible the generic application of a single smooth and reactive motion generation system across a range of robots with zero re-tuning.
119
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