First workshop for young researchers on
Human--friendly robotics
Human
Modelling and control for
H
HumanHuman
-Robot
R b t Interaction
I t
ti
Agostino DE SANTIS
PRISMA Lab
Università degli Studi di Napoli Federico II
[email protected]
http://wpage.unina.it/agodesa
www.phiends.eu
Napoli, 24 October 2008
outline
safer robots: the framework of PHRIENDS
modelling and control
skeleton algorithm
experiments
service
i robotics
b ti
industrial robotics
Virtual Reality tools
conclusion
Agostino De Santis
Napoli • 24 Oct 2008
robot safety and PHRIENDS
Human–Robot Interaction: cHRI and pHRI
p
human-centered robotics: optimality criteria
safety and dependability
strategies for safety
iintrinsic
ti i
by means of control
collision tactics
before collisions
after collisions
Agostino De Santis
Napoli • 24 Oct 2008
issues for safe reactive control in HRI
environment modelling for simple geometric computation
multiple-point control approach for
f considering both multiple
inputs and multiple outputs of the robot
arbitrary selection of the control points on the robot
reactive real-time control for safetyy
integration with deliberative tasks and other safety tactics
Agostino De Santis
Napoli • 24 Oct 2008
skeleton--based modelling
skeleton
human,, robot and environment
Agostino De Santis
Napoli • 24 Oct 2008
skeleton algorithm
algorithm/1
/1
simple
p case:segments
g
(and
(
wrapping
pp g volumes))
distances between segments
Agostino De Santis
Napoli • 24 Oct 2008
skeleton algorithm
algorithm/2
/2
modelling
g the environment
torque commands
Agostino De Santis
Napoli • 24 Oct 2008
potential fields
on-line trajectory
j
y planning
p
g for control points
p
intensity of force/velocity proportional to distance between
possibly colliding points
adjustable parameters
repelling force (velocity), damping, limit distances
Agostino De Santis
Napoli • 24 Oct 2008
additional aspects
torque
q vs velocityy interface
an arbitrary control point on an arbitrary link: a Jacobian per
link ((rigid
g body)
y)
still, motion of the control point on the link can occur
the number of control p
points that can be managed
g in realtime is limited
case of p
parallel segments
g
implementation in velocity control and CLIK
modular way for considering a moving control point: symbolic
direct kinematics and Jacobian
Agostino De Santis
Napoli • 24 Oct 2008
single moving control point
problem: discontinuities
p
interpolation
how does the control
point’s position vary?
Agostino De Santis
Napoli• 24 Oct 2008
Denavit--Hartenberg
Denavit
Hartenberg--based modelling
direct kinematics for a g
generic control point
p
ai, di, αi, θi
pi=K(D&H) for a certain set of DH-values
generic symbolic
g
y
expression
p
for a control point,
p
where proper
p p
DH values have to be considered
example
p of change
g of control point
p
with continuityy
Agostino De Santis
Napoli• 24 Oct 2008
velocity control
modification to differential kinematics
Agostino De Santis
Napoli• 24 Oct 2008
experimental set
set--up
DLR Justin
17-DOF
2 DLR LWR-III + torso
26 DOFs hands
vision
DLR aRD
C + MATLAB®
COMAU Smart 3/S
6-DOF
C3G “open”
open controller
RePLICS
Agostino De Santis
Napoli • 24 Oct 2008
experiments with the DLR Justin humanoid
collision avoidance
Agostino De Santis
Napoli • 24 Oct 2008
experiments @ DLR
adjustable
j
parameters:
p
damping
p g
Agostino De Santis
Napoli • 24 Oct 2008
application to an industrial robotic cell
face detection,, attractive and repulsive
p
motions
Agostino De Santis
Napoli • 24 Oct 2008
rehabilitation robotics scenario in VR
features: adding errors without risk of harm,
evaluating comfort (and perceived dependability)
Agostino De Santis
Napoli• 24 Oct 2008
Virtual Reality tools
Preliminary test of algorithms with models of new equipment
Agostino De Santis
Napoli• 24 Oct 2008
conclusion
safety and dependability in human-friendly robotics
skeleton based modelling
skeleton-based
real-time properties
reactive control: torque and velocity interface
use of Virtual Realityy tools
current research: robustness and dependability of the
approach, more complex models for reactive control
Agostino De Santis
Napoli• 24 Oct 2008
First workshop for young researchers on
Human--friendly robotics
Human
Thank
a you veryy much
u for
o your
you kind
d attention
a
o ☺
Modelling and control for
H
HumanHuman
-Robot
R b t Interaction
I t
ti
Agostino DE SANTIS
PRISMA Lab
Università degli Studi di Napoli Federico II
[email protected]
http://wpage.unina.it/agodesa
www.phiends.eu
Napoli, 24 October 2008