In this article, we introduce the notion of bounded energy collision for physical human-robot collaboration to allow safe interaction with the environment, by keeping the collision impact within predetermined bounds. The proposed method is based on energy dissipation, implemented by a variable damping strategy along the direction of imminent collisions with the environment, and fully complies with any physical human-robot interaction strategy that combines an indirect force control (e.g., impedance control) with an estimation of the human motion intention. Finally, extensive experimental studies clarify and verify the proposed scheme.
- Collision mitigation
- human-robot interaction
- robot control
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering