Adaptive Behavior Of An Electromechanical Arm Robot In a Case Of Physical Interaction With a Human Being

Artem Melnyk (1, 2) , Sébastien Razakarivony (1) , Patrick Henaff (1) , Vladimir Borysenko (2) , Philippe Gaussier (1)

1 ETIS - UMR 8051 - Equipes Traitement de l'Information et Systèmes
2 DONTU - National Technical University of Donetsk

The aim of this paper is to consider the adaptation behavior of an electromechanical arm manipulator to the physical interaction of humans. Preliminary experiments to explore the possibility of adaptive interactions between an arm robot and a human without knowledge of the forces are investigated. A simple and efficient control adaptation of the system is implemented at the level of the electrical drive.

Mots clés: Force; Humans; Manipulators; Joints; Mathematical model; Service robots

Domaines: Robotique [cs.RO]; Automatique / Robotique

Artem Melnyk, Sébastien Razakarivony, Patrick Henaff, Vladimir Borysenko, Philippe Gaussier. Adaptive Behavior Of An Electromechanical Arm Robot In a Case Of Physical Interaction With a Human Being. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2011), Jul 2011, Budapest, Hungary. pp.689-694, ⟨10.1109/AIM.2011.6027148⟩. ⟨hal-00667693⟩