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Experimental Safety Study on Soft-tissue Injury in Robotics

Yang, Chenguang and Gowrishankar, Ganesh and Haddadin, Sami and Parusel, Sven and Albu-Schäffer, Alin and Burdet, Etienne (2011) Experimental Safety Study on Soft-tissue Injury in Robotics. International Journal of Robotics Research, 27 (5), pp. 918-930. SAGE Publications. ISSN 0278-3649.

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This paper presents a novel human-like learning controller to interact with unknown environments. Strictly derived from the minimization of instability, motion error, and effort, the controller compensates for the disturbance in the environment in interaction tasks by adapting feedforward force and impedance. In contrast with conventional learning controllers, the new controller can deal with unstable situations that are typical of tool use and gradually acquire a desired stabilitymargin. Simulations showthat this controller is a good model of humanmotor adaptation.Robotic implementations further demonstrate its capabilities to optimally adapt interaction with dynamic environments and humans in joint torque controlled robots and variable impedance actuators, without requiring interaction force sensing.

Document Type:Article
Title:Experimental Safety Study on Soft-tissue Injury in Robotics
AuthorsInstitution or Email of Authors
Yang, ChenguangUNSPECIFIED
Gowrishankar, GaneshUNSPECIFIED
Haddadin, SamiSami.Haddadin@dlr.de
Parusel, SvenSven.Parusel@dlr.de
Albu-Schäffer, AlinAlin.Albu-Schaeffer@dlr.de
Burdet, EtienneUNSPECIFIED
Date:October 2011
Journal or Publication Title:International Journal of Robotics Research
Refereed publication:Yes
In ISI Web of Science:Yes
Page Range:pp. 918-930
Publisher:SAGE Publications
Keywords:Feedforward force, human motor control, impedance, robotic control, Adaptive Regelung, Bioinspirierte Regelung, Impedanzregelung
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Kognitive Intelligenz und Autonomie (old), R - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:20 Jan 2012 12:54
Last Modified:12 Dec 2013 21:34

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