TY - GEN
T1 - Multi-Stage Energy-Aware Motion Control with Exteroception-Defined Dynamic Safety Metric
AU - Artemov, Kirill
AU - Kolyubin, Sergey
AU - Stramigioli, Stefano
N1 - Funding Information:
*This work is supported by the Russian Science Foundation grant (project No17-79-20341).
Publisher Copyright:
© 2021 IEEE.
PY - 2021/12/16
Y1 - 2021/12/16
N2 - We address the problem of motion control for safe physical interaction, and in particular finding new ways for impedance controller parameters' adaptation to ensure better safety with minimum possible lose in robot performance. We propose an exteroception-based dynamically updated safety metric that takes into account current robot state and inertia as well as external objects' mass, shape, material properties, velocity, sensor confidence and existing sampling rates. We also present how this metric can be applied to design a finite state machine of the multi-stage controller, which allows us to prioritize either safety of performance by setting different energy and power constraints with smooth transition in between free motion and interaction modes.
AB - We address the problem of motion control for safe physical interaction, and in particular finding new ways for impedance controller parameters' adaptation to ensure better safety with minimum possible lose in robot performance. We propose an exteroception-based dynamically updated safety metric that takes into account current robot state and inertia as well as external objects' mass, shape, material properties, velocity, sensor confidence and existing sampling rates. We also present how this metric can be applied to design a finite state machine of the multi-stage controller, which allows us to prioritize either safety of performance by setting different energy and power constraints with smooth transition in between free motion and interaction modes.
KW - Compliance and Impedance Control
KW - Safety in HRI
KW - Sensor-based Control
KW - 22/4 OA procedure
UR - http://www.scopus.com/inward/record.url?scp=85124362602&partnerID=8YFLogxK
U2 - 10.1109/IROS51168.2021.9636561
DO - 10.1109/IROS51168.2021.9636561
M3 - Conference contribution
AN - SCOPUS:85124362602
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 9290
EP - 9296
BT - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PB - IEEE
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Y2 - 27 September 2021 through 1 October 2021
ER -