Energy-Shaping Controller for Time-Invariant Multiple Contacts

IF 5.3 2区计算机科学 Q2 ROBOTICS

IEEE Robotics and Automation Letters Pub Date : 2025-09-15 DOI:10.1109/LRA.2025.3610015

Ehtisham ul Hasan;Angelika Peer

引用次数: 0

Abstract

While in the past industrial robots were strictly separated from humans, today robots serve humans in a variety of industrial applications that also involve close or even physical human-robot interaction. Hereby, safety is of utmost importance and thus, the design of the control system needs to ensure a stable and safe operation. In this context, safety has been mainly addressed for single interaction points. In this article, we present an energy shaping controller that is capable of ensuring safety even in the case of multiple human contact points that may occur when co-manipulating an object. The presented approach is tested and validated in experiments. Results indicate that for the studied co-manipulation task involving time-invariant multiple human contacts, a safe interaction can be achieved.

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定常多接触能量整形控制器

在过去，工业机器人与人类是严格分离的，而今天，机器人在各种工业应用中为人类服务，这些应用也涉及密切甚至物理的人机交互。因此，安全是至关重要的，因此，控制系统的设计需要确保稳定和安全的运行。在这种情况下，安全性主要针对单个交互点。在本文中，我们提出了一种能量塑造控制器，即使在共同操纵物体时可能发生的多个人类接触点的情况下，也能够确保安全。该方法在实验中得到了验证。结果表明，在所研究的涉及时不变多人接触的协同操作任务中，可以实现安全交互。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Robotics and Automation Letters Computer Science-Computer Science Applications

CiteScore

9.60

自引率

15.40%

发文量

1428

期刊介绍： The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.