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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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Abstract

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.

Item URL in elib:https://elib.dlr.de/74107/
Document Type:Article
Title:Experimental Safety Study on Soft-tissue Injury in Robotics
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Yang, ChenguangUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Gowrishankar, GaneshUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Haddadin, SamiUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Parusel, SvenUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115701
Burdet, EtienneUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:October 2011
Journal or Publication Title:International Journal of Robotics Research
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:27
Page Range:pp. 918-930
Publisher:SAGE Publications
ISSN:0278-3649
Status:Published
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 System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
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 (until 2012) > Robotic Systems
Deposited By: Beinhofer, Gabriele
Deposited On:20 Jan 2012 12:54
Last Modified:11 Sep 2023 13:21

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