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Versatile Interaction Control and Haptic Identification in Humans and Robots

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Geometric and Numerical Foundations of Movements

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 117))

Abstract

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.

This work was funded in part by the European Community under the grants EU-FP7 PEOPLE-ITN-317488-CONTEST, ICT-601003 BALANCE, ICT-611626 SYMBITRON, and EU-H2020 ICT-644727 COGIMON.

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Acknowledgements

The authors thank Atsushi Takagi for editing the text.

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Authors and Affiliations

  1. Imperial College of Science, Technology and Medicine, London, SW7 2AZ, UK

    Yanan Li & Etienne Burdet

  2. School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore

    Etienne Burdet

  3. CNRS, Sorbonne University, UPMC Univ Paris 06, UMR 7222, ISIR INSERM, Paris, U1150 Agathe-ISIR, France

    Nathanael Jarrassé

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  1. Yanan Li
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  2. Nathanael Jarrassé
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  3. Etienne Burdet
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Correspondence to Etienne Burdet .

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Editors and Affiliations

  1. LAAS-CNRS , Toulouse, France

    Jean-Paul Laumond

  2. LAAS-CNRS , Toulouse, France

    Nicolas Mansard

  3. LAAS-CNRS , Toulouse, France

    Jean-Bernard Lasserre

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Li, Y., Jarrassé, N., Burdet, E. (2017). Versatile Interaction Control and Haptic Identification in Humans and Robots. In: Laumond, JP., Mansard, N., Lasserre, JB. (eds) Geometric and Numerical Foundations of Movements . Springer Tracts in Advanced Robotics, vol 117. Springer, Cham. https://doi.org/10.1007/978-3-319-51547-2_9

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  • DOI: https://doi.org/10.1007/978-3-319-51547-2_9

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