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Versatile interaction control and haptic identification in humans and robots
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posted on 2023-06-09, 09:22 authored by Yanan LiYanan Li, Nathanael Jarrassé, Etienne BurdetTraditional industrial robot controllers are typically dedicated to a specific task, while humans always interact with new objects yielding unknown interaction forces and instability. In this chapter, we examine the neuromechanics of such contact tasks. We develop a model of the necessary adaptation of force, mechanical impedance and planned trajectory for stable and efficient interaction with rigid or compliant surfaces of different structures. Simulations demonstrate that this model can be used as a novel adaptive robot controller yielding versatile control in representative interactive tasks such as cutting, drilling and haptic exploration, where the robot acquires a model of the geometry and structure of the surface along which it is moving.
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Publication status
- Published
File Version
- Accepted version
ISSN
1610-7438Publisher
Springer VerlagExternal DOI
Volume
117Page range
187-206Pages
419.0Book title
Geometric and Numerical Foundations of MovementsISBN
9783319515465Series
Springer Tracts in Advanced RoboticsDepartment affiliated with
- Engineering and Design Publications
Full text available
- No
Peer reviewed?
- Yes
Legacy Posted Date
2017-12-14First Compliant Deposit (FCD) Date
2017-12-14Usage metrics
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