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Versatile interaction control and haptic identification in humans and robots

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posted on 2023-06-09, 09:22 authored by Yanan LiYanan Li, Nathanael Jarrassé, Etienne Burdet
Traditional industrial robot controllers are typically dedicated to a specific task, while humans always interact with new objects yielding unknown interaction forces and instability. In this chapter, we examine the neuromechanics of such contact tasks. We develop a model of the necessary adaptation of force, mechanical impedance and planned trajectory for stable and efficient interaction with rigid or compliant surfaces of different structures. Simulations demonstrate that this model can be used as a novel adaptive robot controller yielding versatile control in representative interactive tasks such as cutting, drilling and haptic exploration, where the robot acquires a model of the geometry and structure of the surface along which it is moving.

History

Publication status

  • Published

File Version

  • Accepted version

ISSN

1610-7438

Publisher

Springer Verlag

Volume

117

Page range

187-206

Pages

419.0

Book title

Geometric and Numerical Foundations of Movements

ISBN

9783319515465

Series

Springer Tracts in Advanced Robotics

Department affiliated with

  • Engineering and Design Publications

Full text available

  • No

Peer reviewed?

  • Yes

Legacy Posted Date

2017-12-14

First Compliant Deposit (FCD) Date

2017-12-14

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