Bounded Energy Collisions in Human-Robot Cooperative Transportation

Konstantinos I. Alevizos; Charalampos P. Bechlioulis; Kostas J. Kyriakopoulos

doi:10.1109/TMECH.2022.3150247

Bounded Energy Collisions in Human-Robot Cooperative Transportation

Konstantinos I. Alevizos, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

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.

Original language	English (US)
Pages (from-to)	4541-4549
Number of pages	9
Journal	IEEE/ASME Transactions on Mechatronics
Volume	27
Issue number	6
DOIs	https://doi.org/10.1109/TMECH.2022.3150247
State	Published - Dec 1 2022

Keywords

Collision mitigation
human-robot interaction
robot control

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TMECH.2022.3150247

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Bounded Energy Collisions in Human-Robot Cooperative Transportation

Abstract

Keywords

ASJC Scopus subject areas

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