首页|Data on Androids Reported by Researchers at Hefei University of Technology (Variable Admittance Control for Safe Physical Humanrobot Interaction Considering Intuitive Human Intention)
Data on Androids Reported by Researchers at Hefei University of Technology (Variable Admittance Control for Safe Physical Humanrobot Interaction Considering Intuitive Human Intention)
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NETL
NSTL
Elsevier
Research findings on Robotics Androids are discussed in a new report. According to news originating from Hefei, People’s Republic of China, by NewsRx correspondents, research stated, “The trajectory planning of the arm is greatly facilitated by the physical direct teaching technology. Variable admittance control is a promising technology when a robot is interacting with a variable environment, such as a human whose stiffness might change during the interaction.” Funders for this research include State Key Laboratory of Robotics and Systems (HIT) , China, National Natural Science Foundation of China (NSFC), Anhui Provincial Key Research and Development Project, Fundamental Research Funds for the Central Universities. Our news journalists obtained a quote from the research from the Hefei University of Technology, “Nevertheless, a canonical admittance controller with imperfect parameters may lead to robot oscillation, which brings more challenges to a variable admittance controller. In this paper, we propose an energy-based variable admittance controller with intrinsic oscillation suppression property. During the physical humanrobot interaction (pHRI), the human intention is predicted based on the robot’s state and interaction force. The admittance parameters are tuned automatically to conform the robot’s motion to human intention. When the oscillation is detected online by the proposed wavelet module, our variable admittance model reveals oscillation suppression ability because of dissipating the energy generated by high-frequency oscillation. We compared the proposed variable admittance controller with other admittance controller approaches in both simulation and actual robot experiments.”
HefeiPeople’s Republic of ChinaAsiaAndroidsEmerging TechnologiesHuman-Robot InteractionMachine LearningRobotRoboticsTechnologyHefei University of Technology
NETL
NSTL
Elsevier
