Redundancy Resolution in Human-Robot Co-manipulation with Cartesian Impedance Control

  • Fanny Ficuciello
  • Luigi Villani
  • Bruno Siciliano
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 109)


In this paper the role of redundancy in Cartesian impedance control of a robotic arm for the execution of tasks in co-manipulation with humans is considered. In particular, the problem of stability is experimentally investigated. When a human operator guides the robot through direct physical interaction, it is desirable to have a compliant behaviour at the end effector according to a decoupled impedance dynamics. In order to achieve a desired impedance behaviour, the robot’s dynamics has to be suitably reshaped by the controller. Moreover, the stability of the coupled human-robot system should be guaranteed for any value of the impedance parameters within a prescribed region. If the robot is kinematically or functionally redundant, also the redundant degrees of freedom can be used to modify the robot dynamics. Through an extensive experimental study on a 7-DOF KUKA LWR4 arm, we compare two different strategies to solve redundancy and we show that, when redundancy is exploited to ensure a decoupled apparent inertia at the end effector, the stability region in the parameter space becomes larger. Thus, better performance can be achieved by using, e.g., variable impedance control laws tuned to human intentions.


Impedance control Redundancy resolution Human-robot interaction 


  1. 1.
    Ikeura, R., Moriguchi, T., Mizutani, K.: Optimal variable impedance control for a robot and its application to lifting an object with a human. In: IEEE International Workshop on Robot and Human Interactive Communication, pp. 500–505. Berlin (2002)Google Scholar
  2. 2.
    Tsumugiwa, T., Yokogawa, R., Hara, K.: Variable impedance control based on estimation of human arm stiffness for human-robot cooperative calligraphic task. In: IEEE International Conference on Robotics and Automation, pp. 644–650. Washington (2002)Google Scholar
  3. 3.
    Lecours, A., Mayer-St-Onge, B., Gosselin, C.: Variable admittance control of a four-degree-of-freedom intelligent assist device. In: IEEE International Conference on Robotics and Automation, pp. 3903–3908. Saint Paul (2012)Google Scholar
  4. 4.
    Ficuciello, F., Romano, A., Villani, L., Siciliano, B.: Cartesian impedance control of redundant manipulators for human-robot co-manipulation. In: IEEE/RSJ International Conferance on Intelligent Robots and Systems, pp. 2120–2125. Chicago (2014)Google Scholar
  5. 5.
    Ma, O., Angeles, J.: The concept of dynamic isotropy and its applications to inverse kinematics and trajectory planning. In: IEEE International Conference on Robotics and Automation, pp. 10–15. San Francisco (1990)Google Scholar
  6. 6.
    Duchaine, V., Mayer-St-Onge, B., Gao, D., Gosselin, C.: Stable and intuitive control of an intelligent assist device. IEEE Trans. Haptics 5(2), 1412–1939 (2012)CrossRefGoogle Scholar
  7. 7.
    Khatib, O.: A unified approach for motion and force control of robot manipulators: the operational space formulation. IEEE J. Robot. Autom. 3(1), 1115–1120 (1987)CrossRefGoogle Scholar
  8. 8.
    Luca, A.D., Albu-Schäffer, A., Haddadin, S., Hirzinger, G.: Collision detection and safe reaction with the DLR-III lightweight robot arm. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1623–1630. Beijing (2006)Google Scholar
  9. 9.
    Sadeghian, H., Ficuciello, F., Villani, L., Keshmiri, M.: Global impedance control of dual-arm manipulation for safe human-robot interaction. In: 10th IFAC Symposium on Robot Control, pp. 767–773. Croatia (2012)Google Scholar
  10. 10.
    Park, J., Chung, W., Youm, Y.: Computation of gradient of manipulability for kinematically redundant manipulators including dual manipulators system. Trans. Control Autom. Syst. Eng. 1(1), 8–15 (1999)Google Scholar

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Fanny Ficuciello
    • 1
  • Luigi Villani
    • 1
  • Bruno Siciliano
    • 1
  1. 1.Dipartimento di Ingegneria Elettrica e Tecnologie dell’InformazioneUniversità degli Studi di Napoli Federico IINapoliItaly

Personalised recommendations