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Smooth Reaching and Human-Like Compliance in Physical Interactions for Redundant Arms

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Part of the Lecture Notes in Computer Science book series (LNAI,volume 8239)

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.

Keywords

  • Smooth Reaching Motion
  • Compliance
  • Redundant Arms

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.

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  • DOI: 10.1007/978-3-319-02675-6_12
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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

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  • 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)