Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedDT2 Fenix 2 Wednesday, October 10, 2012, 14:00–15:00
Physical Human-Robot Interaction III
Chair Chris Melhuish, BRL
Co-Chair Alessandro De Luca, Univ. di Roma
14:00–14:15 WedDT2.1
Kinematic synthesis, optimization and
analysis of a non-anthropomorphic 2-DOFs
wearable orthosis for gait assistance
Fabrizio Sergi
MEMS Department, Rice University, USA
Dino Accoto, Nevio Luigi Tagliamonte, Giorgio Carpino,
Simone Galzerano, Eugenio Guglielmelli
CIR, Università Campus Bio-Medico di Roma, Italy
• AIM: This paper describes the optimization of
a planar wearable active orthosis for hip and
knee assistance during walking
• METHODS: A systematic enumeration
algorithm is used to derive the whole set of
admissible solutions and optimization is
carried out to reduce actuators torque
requirements.
• RESULTS: The optimized design allows to
conveniently re-distribute mechanical power
in the actuated joints and to modulate
apparent inertia, relative to the
anthropomorphic designs
• CONCLUSIONS: This paper gives a first
preliminary evidence of the advantages of a
non-anthropomorphic design in terms of
actuation requirements.
Figure: (A) Optimized torque profiles
required to robot actuators, vs. torques
applied to human joints. (B) Validation
of the position-control scheme for the
optimized design, through both
simulations and experiments
14:30–14:45 WedDT2.3
Counteracting Modeling Errors for Sensitive
Observer-Based Manipulator Collision Detection
Vahid Sotoudehnejad, Amir Takhmar,
Mehrdad R. Kermani and Ilia G. Polushin
Electrical and Computer Engineering, The University of Western Ontario,
Canada
• Modeling errors responsible for
deficiencies in sensorless
collision detection of robotic
systems are studied.
• A time-variant threshold for
observer residues in joint space
is presented for the purpose of
collision detection.
• Simulation results using real-life
collision forces on PUMA 560
and experiments on the
Phantom Omni device show that
the time-variant threshold works
better than constant thresholds.
A
B
14:15–14:30 WedDT2.2
Investigation of Safety in HRI for a Series
Elastic, Tendon-Driven Robot Arm
Thomas Lens and Oskar von Stryk
Department of Computer Science, Technische Universität Darmstadt, Germany
• Elastic tendon actuation in all four joints of
the BioRob arm reduces link weights to a
minimum
• Design enables end-effector velocities up
to 7 m/s
• Analytic worst case safety estimation of
dynamic impact peak forces and static
clamping forces
• Experimental validation of maximum peak
forces, maximum clamping forces, and
danger potential of energy stored in the
springs
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–152–
Impact and clamping experiment
with the BioRob-X4 arm.
14:45–15:00 WedDT2.4
When Shared Plans go Wrong: From Atomic- to
Composite Actions and Back
Alexander Lenz 1 , Stephane Lallee 2 , Sergey Skachek 1 ,
Anthony G. Pipe 1 , Chris Melhuish 1 and Peter Ford Dominey 2
1 Bristol Robotics Laboratory, Bristol, UK
2 Stem Cell and Brain Research Institute, INSERM U846, Bron, France
� HRI: cognitive system with composite actions, as a sequence of atomic
actions.
� Shared plans between human and robot (BERT2) consisting of
composite actions.
• Graceful recovery from 'behavioural faults' during shared plan execution
guided by human using error codes.
• Plan expansion into atomic action allows robot to skip or repeat
interrupted atomic action.
Human behaviour stops the execution of the shared plan: (a) human stop gesture;
(b) human turns away from robot (lack of attention); (c) close human-robot proximity
during robot motion.