Скачать или смотреть Whole-body Intuitive pHRI with Flexible Robots Using Non-collocated Proprioceptive Sensing

This video shows a method enabling intuitive physical human-robot interaction (pHRI) with flexible robots using an end-point sensing device. With this method, structural compliance, generally considered an inconvenience, is transformed into a useful feature for pHRI.

The sensing device is a passive serial chain of encoders and lightweight links, mounted in parallel with the manipulator. By measuring the deflection of the end-effector relative to the base, the whole body of the manipulator becomes a potential interaction interface, whether the compliance stems from the links or the joints.

The proposed control scheme is a simple joint velocity control that only requires knowledge of the rigid body Jacobian matrix of the manipulator. The user can then backdrive the manipulator even though its actuators are not backdrivable.

More details can be found in the following paper : https://doi.org/10.1109/LRA.2024.3354617