A Dynamic Behavior Control Framework for Physical Human-Robot Interaction
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A Dynamic Behavior Control Framework for Physical Human-Robot Interaction Xing Liu1
· Shuzhi Sam Ge2,3 · Fei Zhao1 · Xuesong Mei1
Received: 8 July 2020 / Accepted: 30 October 2020 © Springer Nature B.V. 2020
Abstract The problem of dynamic behavior control for human-robot collaborative system is studied in this paper. A general dynamic behavior control framework is presented, based on which the interaction control strategies for single-point human-robot collaboration and multi-point human-robot interaction are studied. Through typical human-robot collaborative operation scenarios, the causes of role conflicts under different human-robot collaboration control strategies are analyzed, and the collaborative control algorithm integrating the active motion imitation and passive motion following is presented to reduce the conflicts during the human-robot collaboration process. For multi-point human-robot interaction, the interaction problems are classified and the interaction control strategies for single-task and multi-task scenarios are designed, both in the Cartesian space and the joint space. For multi-task interaction, a smooth task transition strategy from the collaboration control to the safety control is presented to improve the security during the task switching process. Experimental studies verify the effectiveness of the presented method. Keywords Human-robot interaction · Dynamic behavior control framework · Active collaboration control · Multi-point interaction control
1 Introduction Impedance or admittance control has been widely used in physical robot-environment interaction [1, 10, 13, 23, 25, 26], which regulates the dynamic behavior at the interaction points rather than the interaction force [14]. Impedance or admittance control is just a special case of dynamic behavior control. The impedance parameters describe a simple and compact relationship between the robot motion and the interaction force at the interaction point. Whereas in practice, there are many kinds of dynamic behavior models, which cannot be limited to impedance model. A typical example is the multi-point interaction control problem. In multi-point interaction, the controller at one point should
Xing Liu
[email protected] 1
Shaanxi Key Laboratory of Intelligent Robots, Xi’an Jiaotong University, Xi’an, China
2
Social Robotics Lab, National University of Singapore, Singapore, Singapore
3
Institute for Future, Qingdao University, Qingdao, China
consider not only the states at this point, but also the other points. This cannot be described by the traditional impedance model and a more general dynamic behavior model is needed. For practical human-robot applications, there are also many uncertainties or disturbances in the robot itself [12, 22, 37]. Along with the uncertainty and variability of human beings as well as the tasks, human-robot interaction control becomes very difficult but attractive. It is of great significance to design appropriate interaction control strategies or frameworks to solve these problems, which le
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