Autori
Emanuele Magrini and Alessandro De Luca
Abstract
During a human-robot collaboration phase, the human can physically touch the robot anywhere along its structure, and exchange useful contact forces. With the goal of increasing safety and dependability of robots interacting with humans, we have recently developed a method for estimating contact forces at a generic point of the robot. Once an estimated contact force is available, this can be exploited for control purposes. We
have developed different control laws with the aim of shaping the robot behavior at or around the current contact point, where the exchange of forces is taking place. In this framework, we were able to generalize impedance control, direct force and hybrid force/velocity control at the contact point.
