In pursuit of safety: an open-source library for physical human-robot interaction

Résumé : 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.
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Submitted on : Monday, October 30, 2017 - 3:02:30 AM
Last modification on : Friday, April 12, 2019 - 5:20:05 PM
Long-term archiving on : Wednesday, January 31, 2018 - 12:36:10 PM

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Benjamin Navarro, Aicha Fonte, Philippe Fraisse, Gérard Poisson, Andrea Cherubini. In pursuit of safety: an open-source library for physical human-robot interaction. IEEE Robotics and Automation Magazine, Institute of Electrical and Electronics Engineers, 2018, 25 (2), pp.39-50. ⟨10.1109/MRA.2018.2810098⟩. ⟨hal-01625947⟩

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