Modelling and control for human–robot interaction

The presentation introduced by this extended abstract is based on recent work on modelling and control of robots for applications where the presence of humans in the robot's workspace is explicitly considered [1] [2]. In such situations, fast reactive behaviours are required, together with proper tactics for safety, both intrinsic and by means of control. In the latest years, great interest has been shown towards a possible future generation of robots, for service applications or cooperative work, that are expected to interact with people more directly than today. While there is a focus on Human-Robot Interaction (HRI) at the cognitive level (cognitive HRI or cHRI), robots are distinct from computers or other machines. Basically, they can generate forces and have a mechanical, possibly heavy, body: hence, the most revolutionary and challenging feature of the next generation of robots will be physical Human-Robot Interaction (pHRI) [3]. The requirements for robots met in conventional industrial applications are fast motions and absolute accuracy, without external sensing, provided that the operational environments are perfectly known. The most important change of perspective is related to the optimality criteria for robots designed to cooperate with humans: safety and dependability are the keys to their successful introduction into human environments. Physical safety has to be complemented by the mental safety, i.e., by the awareness of robot motion, avoiding scaring postures and abrupt movements. The ongoing European project Physical Human-Robot Interaction: Dependability and Safety (PHRIENDS) [4] has the mission of developing key components of the next generation of robots, designed to share the environment and to physically interact with people, meeting safety standards while delivering useful performance: this poses new challenges to the design of all components of the robot, including mechanics, control, planning algorithms and supervision systems, sensing. Different approaches to safety are addressed, considering compliance of the robot in case of contact, fast monitoring of the scene, precise collision checks with emergency stops. It is therefore possible to consider three kind of strategies: tools aimed

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