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Variable Admittance Control Based on Human-Robot Collaboration Observer Using Frequency Analysis for Sensitive and

Hyomin Kim1, Woosung Yang1

  • 1School of Robotics, Kwangwoon University, 20 Kwangwoon-ro, Nowon-gu, Seoul 01897, Korea.

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|April 3, 2021
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Summary
This summary is machine-generated.

This study introduces a faster human-robot collaboration observer using an infinite impulse response filter, improving intention recognition speed for safer robot interactions. The new method is 3.5 times quicker than traditional approaches.

Keywords:
admittance controlhuman–robot collaborationphysical human–robot interaction

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Area of Science:

  • Robotics
  • Human-Robot Interaction
  • Control Systems

Background:

  • Collaborative robots require sensitivity to user intent for safe hand-guiding tasks.
  • Existing discrete Fourier transform observers have slow recognition speeds due to long sampling times.

Purpose of the Study:

  • To develop a faster human-robot collaboration observer for improved intention recognition.
  • To propose a variable admittance controller for enhanced safety in human-robot collaboration.

Main Methods:

  • Implemented an infinite impulse response (IIR) filter-based observer for human-robot collaboration.
  • Developed a variable admittance controller integrated with the IIR observer.
  • Experimentally verified performance on a two-degrees-of-freedom manipulator.

Main Results:

  • Achieved a human-robot collaboration observer recognition speed of 0.29 seconds.
  • Demonstrated a 3.5x increase in recognition speed compared to discrete Fourier transform methods.
  • Successfully recovered from unsafe to safe collaboration states timely.

Conclusions:

  • The proposed IIR filter-based observer significantly enhances intention recognition speed in human-robot collaboration.
  • The variable admittance controller ensures safe interaction by leveraging the faster observer.
  • Faster recognition enables timely transitions to safe collaborative states, improving overall system safety.