Abstract
This work collectively addresses human-like smoothness and compliance to external contact force in reaching tasks of redundant robotic arms, enhancing human safety potential and facilitating physical human-robot interaction. A model based prescribed performance control algorithm is proposed, producing smooth, repeatable reaching movements for the arm and a compliant behavior to an external contact by shaping the reaching target superimposing the position output from a human-like impedance model. Simulation results for a 5dof human-arm like robot demonstrate the performance of the proposed controller.
This research is co-financed by the EU-ESF and Greek national funds through the operational program “Education and Lifelong Learning” of the National Strategic Reference Framework (NSRF) - Research Funding Program ARISTEIA I.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Morasso, P.: Spatial control of arm movements. Experimental Brain Research 42(2), 223–227 (1981)
Bizzi, E., Accornero, N., Chapple, W., Hogan, N.: Posture control and trajectory formation during arm movement. The Journal of Neuroscience 4(11), 2738–2744 (1984)
Flash, T., Hogan, N.: The coordination of arm movements: An experimentally confirmed mathematical model. Journal of Neuroscience 5(7), 1688–1703 (1985)
Arimoto, S., Sekimoto, M.: Human-like movements of robotic arms with redundant DOF: virtual spring-damper hypothesis to tackle the bernstein problem. In: Proc. IEEE International Conference in Robotics and Automation, pp. 1860–1866 (2006)
Sciavicco, L., Siciliano, B.: A solution algorithm to the inverse kinematic problem for redundant manipulatotrs. IEEE Journal of Robotics and Automation 4(4), 403–410 (1988)
Hersch, M., Billard, A.: Reaching with multi-referential dynamical systems. Auton. Robot. 25(1-2), 71–83 (2008)
Lacquaniti, F., Soechting, J., Terzuolo, S.: Path constraints on point to point arm movements in three dimensional space. Neuroscience 17(2), 313–324 (1986)
Desmurget, M., Pelisson, D., Rosseti, Y., Prablanc, C.: From eye to hand: Planning goal-directed movements. Neuroscience and Biobehavioural Reviews 22(6), 761–788 (1998)
Nakamura, Y., Hanafusa, H., Yoshikawa, T.: Task-priority based redundancy control of robot manipulators. The International Journal of Robotics Research 6(2), 3–15 (1987)
Nakanishi, J., Cory, R., Mistry, M., Peters, J., Schaal, S.: Comparative experiments on task space control with redundancy resolution. In: IEEE International Conference on Intelligent Robots and Systems, pp. 3901–3908. IEEE (2005)
Zanchettin, A., Rocco, P., Bascetta, L., Symeonidis, I., Peldschus, S.: Kinematic analysis and synthesis of the human arm motion during a manipulation task. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 2692–2697 (2011)
Sekimoto, M., Arimoto, S.: Experimental study on reaching movements of robot arms with redundant dofs based upon virtual springdamper hypothesis. In: Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 562–567 (2006)
Seto, F., Sugihara, T.: Motion control with slow and rapid adaptation for smooth reaching movement under external force disturbance. In: Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1650–1655 (2010)
Heinzmann, J., Zelinsky, A.: Quantitative safety guarantees for physical human-robot interaction. Int. J. of Robotics Research 22(7/8), 479–504 (2003)
De Luca, A., Albu-Schaffer, A., Haddadin, S., Hirzinger, G.: Collision detection and safe reaction with DLF-III lightweight manipulator arm. In: Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1623–1630 (2006)
Erden, M.S., Tomiyama, T.: Human-intent detection and physically interactive control of a robot without force sensors. IEEE Transactions on Robotics 26(2), 370–382 (2010)
Yang, C., Ganesh, G., Haddadin, S., Parusel, S., Albu-Schaeffer, A., Burdet, E.: Human-like adaptation of force and impedance in stable and unstable interactions. IEEE Transactions on Robotics 27(5), 918–930 (2011)
Bechlioulis, C., Rovithakis, G.: Robust adaptive control of feedback linearizable MIMO nonlinear systems with prescribed performance. IEEE Transactions on Automatic Control 53(9), 2090–2099 (2008)
Doulgeri, Z., Karalis, P.: A prescribed performance referential control for human-like reaching movement of redundant arms. In: Proc. 10th Intern. IFAC Symposium on Robot Control, pp. 295–300 (2012)
Karayiannidis, Y., Doulgeri, Z.: Model-free robot joint position regulation and tracking with prescribed performance guarantees. Robotics and Autonomous Systems 60(2), 214–226 (2012)
Bechlioulis, C., Rovithakis, G.: Prescribed performance adaptive control for multi-input multi-output affine in the control nonlinear systems. IEEE Transactions on Automatic Control 55(5), 1220–1226 (2010)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Atawnih, A., Doulgeri, Z. (2013). Smooth Reaching and Human-Like Compliance in Physical Interactions for Redundant Arms. In: Herrmann, G., Pearson, M.J., Lenz, A., Bremner, P., Spiers, A., Leonards, U. (eds) Social Robotics. ICSR 2013. Lecture Notes in Computer Science(), vol 8239. Springer, Cham. https://doi.org/10.1007/978-3-319-02675-6_12
Download citation
DOI: https://doi.org/10.1007/978-3-319-02675-6_12
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-02674-9
Online ISBN: 978-3-319-02675-6
eBook Packages: Computer ScienceComputer Science (R0)