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What dynamics should impedance-controlled robots render?

Workshop Paper at the Workshop "Physical human-robot interaction: a design focus", IEEE ICRA 2019, Montréal, Canada, May 24 2019
 
: Haninger, Kevin; Surdilovic, Dragoljub; Bastidas Cruz, Arturo

:
Fulltext urn:nbn:de:0011-n-5746987 (1.2 MByte PDF)
MD5 Fingerprint: 0238701734b3097227338a92c4fe0908
Created on: 14.2.2020


2019, 5 pp.
International Conference on Robotics and Automation (ICRA) <2019, Montreal>
Workshop on Physical Human-Robot Interaction (PHRI) <2019, Montreal>
European Commission EC
H2020; 820683; SHERLOCK
English
Conference Paper, Electronic Publication
Fraunhofer IPK ()

Abstract
While impedance control is the standard framework for physically interactive robots, the design choice of what dynamics should be rendered requires additional information (assumptions on environment, in-situ data). The range of dynamics which can be rendered by a robot is informed by its mechatronic design (actuators, physical compliance, innerloop control), and these mechanical design decisions must be made in advance. How can a mechatronic design be evaluated when the system objectives and environment dynamics are not quantified? This paper presents performance metrics proposed for pHRI in literature, and seeks to move towards a unified methodology for mechatronic design on interactive robots: supporting potential performance and safety over a set of environments.

: http://publica.fraunhofer.de/documents/N-574698.html