Abstract
Force control is nowadays a mature technology, widespread in modern robotics systems and commercialized within several application domains. However, assessing the performance of a force-controlled system is not a trivial task because it may be strongly influenced by the environment dynamics. Exerting a force on a soft environment is different from exerting a force on a rigid environment. Indeed, the same force-controlled robot can have different force responses in different environments and a standardized and comprehensive method to assess the performance of a force-controlled system is not available yet. This paper, as part of the Forecast project, aims at filling this gap by proposing a benchmarking method able to define a comprehensive score for a given force-controlled system accounting for its sensitivity to environment uncertainties and variations. This paper describes such benchmarking methodology which allows to compare force control algorithms on a common ground and to determine the preferable control solutions in a specific application domain.
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References
R. Vicario, A methodology for benchmarking force control algorithms (2020). https://doi.org/10.13140/RG.2.2.18759.11680
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Repository of SESim, http://www.gitlab.com/altairLab/elasticteam/SESim
Repository of Forecast Control Framework, http://www.gitlab.com/altairLab/elasticteam/forecastnucleoframework
Forecast UI showcase video, http://www.youtube.com/watch?v=40l8gGEEiSE
Repository of Forecast UI, http://www.gitlab.com/altairLab/elasticteam/forecast/forecast-atlas
Acknowledgements
The research has received funding from the European Union’s Horizon 2020 programme under grant agreement EUROBENCH n. 779963.
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Vicario, R. et al. (2022). A Methodology for Benchmarking Force Control Algorithms. In: Moreno, J.C., Masood, J., Schneider, U., Maufroy, C., Pons, J.L. (eds) Wearable Robotics: Challenges and Trends. WeRob 2020. Biosystems & Biorobotics, vol 27. Springer, Cham. https://doi.org/10.1007/978-3-030-69547-7_99
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DOI: https://doi.org/10.1007/978-3-030-69547-7_99
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