Integration of active and passive compliance control for safe human-robot coexistence

Authors:
Riccardo Schiavi;Antonio Bicchi;Fabrizio Flacco
Affiliations:
Interdepartmental Research Center "E. Piaggio", University of Pisa, Pisa, Italy;Interdepartmental Research Center "E. Piaggio", University of Pisa, Pisa, Italy;Department of Computer and Systems Sciences, University of Rome, Roma, Italy
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 4
Cited 0

Real-time obstacle avoidance for manipulators and mobile robots

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Pre-collision safety strategies for human-robot interaction

Autonomous Robots

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Abstract

In this paper we discuss the integration of active and passive approaches to robotic safety in an overall scheme for real-time manipulator control. The active control approach is based on the use of a supervisory visual system, which detects the presence and position of humans in the vicinity of the robot arm, and generates motion references. The passive control approach uses variable joint impedance which combines with velocity control to guarantee safety in worst-case conditions, i.e. unforeseen impacts. The implementation of these techniques in a 3-dof, variable impedance arm is described, and the effectiveness of their functional integration is demonstrated through experiments.