A Hierarchical Framework for Physical Human-Robot Interaction

Autor: Juan David Muñoz Osorio

ISBN: 978-3-95900-732-0

Dissertation, Leibniz Universität Hannover, 2022

Herausgeber der Reihe: Tobias Ortmaier

Band-Nr.: IMES 01/2022

Umfang: 138 Seiten, 44 Abbildungen

Schlagworte: multi-task control, physical human-robot interaction, redundancy resolution, unilateral constraints

Kurzfassung: In the last years, several hierarchical frameworks have been proposed to deal with highly redundant robotic systems. Some of those systems are expected to perform multiple tasks and physically to interact with the environment. However, none of the proposed frameworks was able to manage multiple tasks with arbitrary task dimensions, while respecting unilateral constraints at position, velocity, acceleration, and force level, and at the same time, to react intuitively to external forces. This thesis proposes a framework that addresses this problem. The framework is tested in simulation and on a real robot with several methods for solving the redundancy  problem. Experiments were performed using an industrial redundant collaborative robot. Results demonstrate that the proposed method to handle unilateral constraints produces a safe and expected reaction in the presence of external forces exerted by humans. The robot does not exceed the given limits, while the tasks performed are prioritized hierarchically.