Physical human-robot interaction

Physical human-robot interaction 2018-12-28T17:33:31+00:00

Project Description

Abstract

In the industrial field a lot of tasks can be executed automatically by means of robotic manipulators, e.g. pick and place, welding, assembly or product inspection. For this reason the way the trajectory is “taught” to the robot becomes crucial. Teaching techniques involving manual guidance of the robot maximize the possibilities of re-programming the robot in a intuitive and easy way, because they don’t need the knowledge of the robot programming language.

To supervise the physical human-robot interaction (pHRI) during tasks requiring cooperation between the human operator and the robotic manipulator, with an efficient and cheap setup, compliant motion control strategies (i.e. admittance/impedance control) can be implemented. The forces/torques arising during the interaction are measured by a Force/Torque (F/T) sensor typically mounted on the robot wrist flange.

Thanks to this kind of controllers, the “walk-through programming” can be exploited: the operator becomes like a teacher that physically follows (“walks”) the end-effector through the desired positions. At the same time the robot’s controller records the joints coordinates, “learning” the desired trajectory, and can play the trajectory back thereafter. In order to create an industrial setup, the tool attached at the robot end-effector has to be considered and its dynamics has to be compensated.

This research area started from the development of walk-through programming techniques for manual guidance of robotic manipulators and is currently focused on the development of advanced techniques of physical human-robot interaction.

Physical-Human-robot-interaction

People

FEDERICA FERRAGUTI
FEDERICA FERRAGUTIAssistant Professor
federica.ferraguti@unimore.it
Tel.: +39 0522 523531

Federica Ferraguti is currently Assistant Professor at the Department of Sciences and Methods for Engineering, University of Modena and Reggio Emilia, Italy. She received…

CHIARA TALIGNANI LANDI
CHIARA TALIGNANI LANDIPhD student
chiara.talignanilandi@unimore.it
Mob.: +39 348 6650493

I received my Bachelor and Master degree in Mechatronic Engineering in 2013 and 2016, respectively, at the University of Modena and Reggio Emilia…

CRISTIAN SECCHI
CRISTIAN SECCHIAssociate Professor
cristian.secchi@unimore.it
Tel.: +39 0522 522235

Cristian Secchi was born on February 4th, 1975. He graduated in computer science engineering, with majors in robotics and automation, at the University of Bologna (I) on July…

LORENZO SABATTINI
LORENZO SABATTINIAssociate Professor
lorenzo.sabattini@unimore.it
Tel.: +39 052252 3528/2666

My main research interests are in the field of multi-robot systems and decentralized control. In particular, I’m working on coordination of multi-robot systems, decentralized…

CESARE FANTUZZI
CESARE FANTUZZIFull Professor
cesare.fantuzzi@unimore.it
Phone: +39 0522 522 213

Cesare has over 25 years of experience in the area of industrial automation and robotics, with a solid scientific background certified by over 200 publications in leading …

Selected publications

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Collaborations

Funded project(s)

ADAPTIVE Manufacturing – CLUSTER NAZIONALE FABBRICA INTELLIGENTE

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