Admittance Control Parameter Adaptation for Physical Human-Robot Interaction
This work addresses stability and ease of use in human-robot collaboration, but appears incremental as it builds on existing admittance control methods.
The paper tackled the problem of ensuring stable physical human-robot interaction by adapting admittance control parameters to minimize operator effort, and validated the strategy on a KUKA LWR 4+ robot.
In physical human-robot interaction, the coexistence of robots and humans in the same workspace requires the guarantee of a stable interaction, trying to minimize the effort for the operator. To this aim, the admittance control is widely used and the appropriate selection of the its parameters is crucial, since they affect both the stability and the ability of the robot to interact with the user. In this paper, we present a strategy for detecting deviations from the nominal behavior of an admittance-controlled robot and for adapting the parameters of the controller while guaranteeing the passivity. The proposed methodology is validated on a KUKA LWR 4+.