NDLI: Compliant control for a cable-actuated anthropomorphic robot arm: an experimental validation of different solutions

Content Provider	IEEE Xplore Digital Library
Author	Zollo, L. Siciliano, B. Laschi, C. Teti, G. Dario, P.
Copyright Year	2002
Description	Author affiliation: Adv. Robotics Technol. & Syst. Lab., Pisa, Italy (Zollo, L.)
Abstract	This paper presents a research work on compliant control of an anthropomorphic robot arm used as a personal robot. In personal applications of robotics, human-robot interaction represents a critical factor for a robot design and introduces strict requirements on its behavior and control, which has to ensure safety and effectiveness. In this work, the problem of controlling the Dexter anthropomorphic robot arm with variable compliance has been investigated, not only to ensure safety in the interaction with humans, but especially to increase the robot functionality in tasks of physical interaction, performed in co-operation with humans. Two different control schemes have been formulated and implemented, to compare their performance experimentally. Both schemes aim at realising a self-controlled compliant behavior without using information from force/torque sensors. The experimental comparison outlines how the performance of the two control systems are inverted with respect to the theoretical considerations, based on the classical control theory, on their accuracy and effectiveness.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	1836
Ending Page	1841
File Size	631120
Page Count	6
File Format	PDF
ISBN	0780372727
DOI	10.1109/ROBOT.2002.1014808
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-05-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Anthropomorphism Control systems Human robot interaction Impedance Safety Force control Service robots Robot control Face Communication cables
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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