Combining energy and power based safety metrics in controller design for domestic robots

Tadele Shiferaw Tadele, Theo de Vries, Stefano Stramigioli

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    12 Citations (Scopus)
    101 Downloads (Pure)

    Abstract

    This paper presents a general passivity based interaction controller design approach that utilizes a combined energy and power based safety norms to assert safety of domestic robots. Since these robots are expected to co-habit the same environment with a human user, analysing and ensuring their safety is an important requirement. Safety analysis of domestic robots determine whether a robot achieves a desired safety level according to some quantitative safety metrics. When it comes to controller design for human friendly robots, it often involves introducing compliance and ensuring asymptotic stability using impedance control technique and passivity theories. The controller proposed in this work uses a passive design that extends the standard impedance control scheme with energy and power based safety metrics to ensure that safety requirements defined in these norms are achieved by domestic robots. The effectiveness of the proposed guideline is illustrated with simulation and experimental results.
    Original languageEnglish
    Title of host publication2014 IEEE International Conference on Robotics and Automation (ICRA)
    Place of PublicationLos Alamitos, CA, USA
    PublisherIEEE
    Pages1209-1214
    Number of pages6
    ISBN (Electronic)978-1-4799-3685-4
    DOIs
    Publication statusPublished - Jun 2014
    Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
    Duration: 31 May 20147 Jun 2014

    Publication series

    NameIEEE International Conference on Robotics and Automation (ICRA)
    PublisherIEEE
    Volume2014
    ISSN (Print)1050-4729

    Conference

    Conference2014 IEEE International Conference on Robotics and Automation, ICRA 2014
    Abbreviated titleICRA
    CountryChina
    CityHong Kong
    Period31/05/147/06/14

    Keywords

    • Domestic robots
    • Impedance control
    • Safety metric
    • Passivity based control
    • PD
    • Interaction control

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