Compliant Interaction of a Domestic Service Robot with a Human and the Environment

A new service robot designed for cleaning tasks in home environments is introduced. Robot systems will work directly with people in there areas, thus placing a central importance on making interactions between people and machines as natural as possible. The main focus of this paper is to introduce to the system’s design and control. In this context a new kind of hybrid force/position controller for the mobile manipulator will be presented. The compliant motion performed by this controller allows the robot to execute interaction tasks both with the environment and with the user and this make it easy to be used by non-experts. A table cleaning and a path teaching are two example of such a kind of tasks that will be performed from the robot in order to validate experimentally the results of the paper.

[1]  Friedrich Lange,et al.  Learning force control with position controlled robots , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[2]  H. Strobel,et al.  CleaningAssistant-a service robot designed for cleaning tasks , 2001, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556).

[3]  Tsuneo Yoshikawa,et al.  Analysis and Control of Robot Manipulators with Redundancy , 1983 .

[4]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[5]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[6]  Neville Hogan,et al.  Stable execution of contact tasks using impedance control , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[7]  Oussama Khatib,et al.  Motion and force control of robot manipulators , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[8]  John J. Craig,et al.  Hybrid position/force control of manipulators , 1981 .

[9]  M. Doyon,et al.  On the implementation and performance of impedance control on position controlled robots , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[10]  Jörg Illmann,et al.  Gesture Recognition in a Spatial Context for Commanding a Domestic Service Robot , 2002 .

[11]  Phillip J. McKerrow,et al.  Introduction to robotics , 1991 .

[12]  Jon Rigelsford,et al.  Modelling and Control of Robot Manipulators , 2000 .

[13]  J. Y. S. Luh,et al.  Industrial robots with seven joints , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[14]  Matthew T. Mason,et al.  Compliance and Force Control for Computer Controlled Manipulators , 1981, IEEE Transactions on Systems, Man, and Cybernetics.