OpenPHRI: an open-source library for safe physical human-robot interaction

Benjamin Navarro (1) , Aïcha Fonte (2) , Philippe Fraisse (1) , Gérard Poisson (2) , Andrea Cherubini (1)

1 IDH - Interactive Digital Humans
2 PRISME - Laboratoire pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique

Open PHRI is a C++/Python general-purpose software scheme with several built-in safety measures designed to ease robot programming for physical human-robot interaction (pHRI) and collaboration. Aside from providing common functionalities, the library can be easily customized and enhanced thanks to the project's open-source nature. The OpenPHRI framework consists of a two-layer damping controller, depicted in Figure 1. This allows the user to provide compliance and other safety features at both the joint and task levels, depending on the application.

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

Benjamin Navarro, Aïcha Fonte, Philippe Fraisse, Gérard Poisson, Andrea Cherubini. OpenPHRI: an open-source library for safe physical human-robot interaction. 2017. ⟨hal-01625947⟩