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2019
Presentation
Title
What dynamics should impedance-controlled robots render?
Title Supplement
Workshop Paper at the Workshop "Physical human-robot interaction: a design focus", IEEE ICRA 2019, Montréal, Canada, May 24 2019
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.