Human-robot physical interaction and collaboration using an industrial robot with a closed control architecture

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2013, Pages 4000-4007

  Geravand, Milad ^a,b   Flacco, Fabrizio ^a   De Luca, Alessandro ^a  

^a SAPIENZA UNIVERSITY OF ROME   (Italy)

^b TECHNICAL UNIVERSITY OF MUNICH   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ADVANCED RESEARCHES; COLLABORATION MODES; COLLISION DETECTION; CONTROL ARCHITECTURE; JOINT TORQUE SENSORS; PHYSICAL HUMAN-ROBOT INTERACTIONS; PHYSICAL INTERACTIONS; ROBOT MANUFACTURERS;

DYNAMIC MODELS; ROBOTICS;

ROBOTS;

EID: 84887290656     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2013.6631141     Document Type: Conference Paper

References (22)

1. J.Heinzmann and A.Zelinsky, "Quantitative safety guarantees for physical human-robot interaction, " Int.J.of Robotics Research, vol.22, no.7/8, pp.479-504, 2003.
2. A.De Santis, B.Siciliano, A.De Luca, and A.Bicchi, "An atlas of physical human-robot interaction, " Mechanism and Machine Theory, vol.43, no.3, pp.253-270, 2008.
3. S.Haddadin, A.Albu-Schaffer, and G.Hirzinger, "Requirements for safe robots: Measurements, analysis and new insights, " Int.J.of Robotics Research, vol.28, no.11/12, pp.1507-1527, 2009.
4. A.Bicchi, M.A.Peshkin, and J.E.Colgate, "Safety for physical human-robot interaction, " in Springer Handbook of Robotics, B.Siciliano and O.Khatib, Eds.Springer, 2008, pp.1335-1348.
5. G.Hirzinger, A.Albu-Schaffer, M.Hahnle, I.Schaefer, and N.Sporer, "On a new generation of torque controlled light-weight robots, " in Proc.IEEE Int.Conf.on Robotics and Automation, 2001, pp.3356-3363.
6. K.Salisbury, W.Townsend, B.Eberman, and D.DiPietro, "Preliminary design of a whole-arm manipulation system (WAMS), " in Proc.IEEE Int.Conf.on Robotics and Automation, 1988, pp.254-260.
7. A.De Luca and W.Book, "Robots with flexible elements, " in Springer Handbook of Robotics, B.Siciliano and O.Khatib, Eds.Springer, 2008, pp.287-319.
8. A.Kugi, C.Ott, A.Albu-Schaffer, and G.Hirzinger, "On the passivitybased impedance control of flexible joint robots, " IEEE Trans.on Robotics, vol.24, no.2, pp.416-429, 2008.
9. R.Schiavi, G.Grioli, S.Sen, and A.Bicchi, "VSA-II: A novel prototype of variable stiffness actuator for safe and performing robots interacting with humans, " in Proc.IEEE Int.Conf.on Robotics and Automation, 2008, pp.2171-2176.
10. S.Kuhn, T.Gecks, and D.Henrich, "Velocity control for safe robot guidance based on fused vision and force/torque data, " in Proc.IEEE Int.Conf.on Multisensor Fusion and Integration for Intelligent Systems, 2006, pp.485-492.
11. S.Kuhn and D.Henrich, "Fast vision-based minimum distance determination between known and unknown objects, " in Proc.IEEE/RSJ Int.Conf.on Intelligent Robots and Systems, 2007, pp.2186-2191.
12. F.Flacco, T.Kroger, A.De Luca, and O.Khatib, "A depth space approach to human-robot collision avoidance, " in Proc.IEEE Int.Conf.on Robotics and Automation, 2012, pp.338-345.
13. K.Suita, Y.Yamada, N.Tsuchida, K.Imai, H.Ikeda, and N.Sugimoto, "A failure-to-safety 'kyozon' system with simple contact detection and stop capabilities for safe human-autonomous robot coexistence, " in Proc.IEEE Int.Conf.on Robotics and Automation, 1995, pp.3089-3096.
14. Collision Detection RobotWare option, ABB Robotics Products, SE-72168 Vasteras, Sweden, 2008, PR10044en, Version 2.1.
15. S.Morinaga and K.Kosuge, "Collision detection system for manipulator based on adaptive impedance control law, " in Proc.IEEE Int.Conf.on Robotics and Automation, 2003, pp.1080-1085.
16. A.De Luca, A.Albu-Schaffer, S.Haddadin, and G.Hirzinger, "Collision detection and safe reaction with the DLR-III lightweight robot arm, " in Proc.IEEE/RSJ Int.Conf.on Intelligent Robots and Systems, 2006, pp.1623-1630.
17. S.Haddadin, A.Albu-Schaffer, A.De Luca, and G.Hirzinger, "Collision detection and reaction: A contribution to safe physical humanrobot interaction, " in Proc.IEEE/RSJ Int.Conf.on Intelligent Robots and Systems, 2008, pp.3356-3363.
18. M.Erden and T.Tomiyama, "Human-intent detection and physically interactive control of a robot without force sensors, " IEEE Trans.on Robotics, vol.26, no.2, pp.370-382, 2010.
19. A.De Luca and F.Flacco, "Integrated control for pHRI: Collision avoidance, detection, reaction and collaboration, " in Proc.4th IEEE RAS &EMBS Conf.on Biomedical Robotics and Biomechatronics, 2012, pp.288-295.
20. A.Stolt, M.Linderoth, A.Robertsson, and R.Johansson, "Force controlled robotic assembly without a force sensor, " in Proc.IEEE Int.Conf.on Robotics and Automation, 2012, pp.1538-1543.
21. KUKA.RobotSensorInterface (RSI), KUKA System Technology (KST), D-86165 Augsburg, Germany, 2007, revision 2.
22. J.Swevers, W.Verdonck, and J.De Schutter, "Dynamic model identification for industrial robots, " IEEE Control Systems Mag., vol.27, no.5, pp.58-71, 2007.