Combining energy and power based safety metrics in controller design for domestic robots
Combining energy and power based safety metrics in controller design for domestic robots
复制标题
在家用机器人控制器设计中结合基于能量和功率的安全指标
DOI：
10.1109/icra.2014.6907007
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
S. Stramigioli
中科院分区：
文献类型：
--
作者：
T. S. Tadele;T. D. Vries;S. Stramigioli
本文提出了一种基于通用被动性的交互控制器设计方法，该方法利用基于能量和功率的组合安全规范来保证家用机器人的安全。由于这些机器人预计将与人类用户共同居住在相同的环境中，因此分析和确保其安全是一项重要要求。家用机器人的安全分析根据一些定量的安全指标来确定机器人是否达到期望的安全水平。当涉及人类友好型机器人的控制器设计时，通常涉及引入合规性并使用阻抗控制技术和无源性理论确保渐近稳定性。这项工作中提出的控制器还采用无源设计，通过基于能量和功率的安全指标扩展标准阻抗控制方案，以确保家用机器人实现这些规范中定义的安全要求。仿真和实验结果说明了所提出指南的有效性。
This paper presents a general passivity based interaction controller design approach that utilizes a combined energy and power based safety norms to assert safety of domestic robots. Since these robots are expected to co-habit the same environment with a human user, analysing and ensuring their safety is an important requirement. Safety analysis of domestic robots determine whether a robot achieves a desired safety level according to some quantitative safety metrics. When it comes to controller design for human friendly robots, it often involves introducing compliance and ensuring asymptotic stability using impedance control technique and passivity theories. The controller proposed in this work also uses a passive design that extends the standard impedance control scheme with energy and power based safety metrics to ensure that safety requirements defined in these norms are achieved by domestic robots. The effectiveness of the proposed guideline is illustrated with simulation and experimental results.
影响因子：
9.2
作者：
Ikuta, K;Ishii, H;Nokata, M
通讯作者：
Nokata, M