A Multi-Task Energy-Aware Impedance Controller for Enhanced Safety in Physical Human-Robot Interaction

In physical human-robot interaction (pHRI), ensuring human safety in all tasks conducted by the robot is crucial. Traditional compliance control strategies, such as admittance and impedance control, often lead to unpredictable robot behavior due to incidents like contact loss or unexpected external...

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Veröffentlicht in:	IEEE robotics and automation letters 2025-02, Vol.10 (2), p.1345-1352
Hauptverfasser:	Choi, Seungmin, Ha, Seongmin, Kim, Wansoo
Format:	Artikel
Sprache:	eng
Schlagworte:	Collision avoidance Compliance and impedance control human-robot collaboration Human-robot interaction Impedance Load flow Multitasking Null space physical human-robot interaction Regulation Robots Safety safety in HRI Service robots
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