An Optimization-Based Estimation and Adaptive Control Approach for Human-Robot Cooperation

  • Wilm Decré
  • Herman Bruyninckx
  • Joris De Schutter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 79)

Abstract

This paper presents a novel robot programming approach for actively assisting humans in human-robot cooperation tasks. First, the paper discusses an invariant description-based parametric modeling approach for six degree-of-freedom motion trajectories. This generic approach facilitates building a library of motion models in a systematic way. Second, the paper presents a constrained optimization-based parameter estimation technique for estimating the motion model parameters. Both batch and recursive schemes are presented. Third, the paper presents a control architecture based on our constraint-based task specification approach iTaSC that supports including secondary task objectives or inequality constraints (for example joint limits) in the robot task definition. The control architecture is exemplified using the KUKA LWR 4 robot and Orocos robot control software. Experimental results clearly indicate the potential of the approach by showing significant lower human-robot interaction forces compared to classical admittance control.

Keywords

Motion Trajectory Control Architecture Feedforward Control Iterative Learning Control Robot Task 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2014

Authors and Affiliations

  • Wilm Decré
    • 1
  • Herman Bruyninckx
    • 1
  • Joris De Schutter
    • 1
  1. 1.Department of Mechanical Engineering, Division PMAKatholieke Universiteit LeuvenLeuvenBelgium

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