Physical Human Robot Interaction for a Wall Mounting Robot - External Force Estimation

Noelia Villarmarzo Arruñada; Alejandro Alonso García; Rasmus Pedersen; Thomas Bak

doi:10.1109/CCTA.2018.8511329

Physical Human Robot Interaction for a Wall Mounting Robot - External Force Estimation

Noelia Villarmarzo Arruñada, Alejandro Alonso García, Rasmus Pedersen, Thomas Bak

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

1 Citation (Scopus)

Abstract

The use of collaborative robots enhances human capabilities, leading to better working conditions and increased productivity. In building construction, such robots are needed, among other tasks, to install large glass panels, where the robot takes care of the heavy lifting part of the job while the operator directly manipulates the panel to install it. In order to facilitate physical human robot interaction, an
algorithm for estimating the operator input force is presented. It features a nonlinear observer structure embedded into an extended Kalman filter that also considers measurements from load cells. In this way the designed algorithm is more robust to
modeling errors. The derivation of the needed kinematic and dynamic model is also presented and the performance of the estimation is evaluated on on a high fidelity simulation model of the wall mounting robot called WallMo.

Original language	English
Title of host publication	2018 IEEE Conference on Control Technology and Applications (CCTA)
Number of pages	6
Publisher	IEEE
Publication date	26 Oct 2018
Pages	1546-1551
Article number	8511329
ISBN (Print)	978-1-5386-7699-8
ISBN (Electronic)	978-1-5386-7698-1
DOIs	https://doi.org/10.1109/CCTA.2018.8511329
Publication status	Published - 26 Oct 2018
Event	2018 IEEE Conference on Control Technology and Applications (CCTA) - The Scandic Hotel Copenhagen, Copenhagen, Denmark Duration: 21 Aug 2018 → 24 Aug 2018

Conference

Conference	2018 IEEE Conference on Control Technology and Applications (CCTA)
Location	The Scandic Hotel Copenhagen
Country/Territory	Denmark
City	Copenhagen
Period	21/08/2018 → 24/08/2018

Keywords

control
robotics
interaction

Access to Document

10.1109/CCTA.2018.8511329

Cite this

@inproceedings{2cf44ff24f4d45398682653fc40f758c,

title = "Physical Human Robot Interaction for a Wall Mounting Robot - External Force Estimation",

abstract = "The use of collaborative robots enhances human capabilities, leading to better working conditions and increased productivity. In building construction, such robots are needed, among other tasks, to install large glass panels, where the robot takes care of the heavy lifting part of the job while the operator directly manipulates the panel to install it. In order to facilitate physical human robot interaction, analgorithm for estimating the operator input force is presented. It features a nonlinear observer structure embedded into an extended Kalman filter that also considers measurements from load cells. In this way the designed algorithm is more robust tomodeling errors. The derivation of the needed kinematic and dynamic model is also presented and the performance of the estimation is evaluated on on a high fidelity simulation model of the wall mounting robot called WallMo.",

keywords = "control, robotics, interaction",

author = "Arru{\~n}ada, {Noelia Villarmarzo} and Garc{\'i}a, {Alejandro Alonso} and Rasmus Pedersen and Thomas Bak",

year = "2018",

month = oct,

day = "26",

doi = "10.1109/CCTA.2018.8511329",

language = "English",

isbn = "978-1-5386-7699-8",

pages = "1546--1551",

booktitle = "2018 IEEE Conference on Control Technology and Applications (CCTA)",

publisher = "IEEE",

address = "United States",

note = "2018 IEEE Conference on Control Technology and Applications (CCTA) ; Conference date: 21-08-2018 Through 24-08-2018",

}

Arruñada, NV, García, AA, Pedersen, R & Bak, T 2018, Physical Human Robot Interaction for a Wall Mounting Robot - External Force Estimation. in 2018 IEEE Conference on Control Technology and Applications (CCTA)., 8511329, IEEE, pp. 1546-1551, 2018 IEEE Conference on Control Technology and Applications (CCTA), Copenhagen, Denmark, 21/08/2018. https://doi.org/10.1109/CCTA.2018.8511329

Physical Human Robot Interaction for a Wall Mounting Robot - External Force Estimation. / Arruñada, Noelia Villarmarzo; García, Alejandro Alonso; Pedersen, Rasmus ; Bak, Thomas.

2018 IEEE Conference on Control Technology and Applications (CCTA). IEEE, 2018. p. 1546-1551 8511329.

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

TY - GEN

T1 - Physical Human Robot Interaction for a Wall Mounting Robot - External Force Estimation

AU - Arruñada, Noelia Villarmarzo

AU - García, Alejandro Alonso

AU - Pedersen, Rasmus

AU - Bak, Thomas

PY - 2018/10/26

Y1 - 2018/10/26

N2 - The use of collaborative robots enhances human capabilities, leading to better working conditions and increased productivity. In building construction, such robots are needed, among other tasks, to install large glass panels, where the robot takes care of the heavy lifting part of the job while the operator directly manipulates the panel to install it. In order to facilitate physical human robot interaction, analgorithm for estimating the operator input force is presented. It features a nonlinear observer structure embedded into an extended Kalman filter that also considers measurements from load cells. In this way the designed algorithm is more robust tomodeling errors. The derivation of the needed kinematic and dynamic model is also presented and the performance of the estimation is evaluated on on a high fidelity simulation model of the wall mounting robot called WallMo.

AB - The use of collaborative robots enhances human capabilities, leading to better working conditions and increased productivity. In building construction, such robots are needed, among other tasks, to install large glass panels, where the robot takes care of the heavy lifting part of the job while the operator directly manipulates the panel to install it. In order to facilitate physical human robot interaction, analgorithm for estimating the operator input force is presented. It features a nonlinear observer structure embedded into an extended Kalman filter that also considers measurements from load cells. In this way the designed algorithm is more robust tomodeling errors. The derivation of the needed kinematic and dynamic model is also presented and the performance of the estimation is evaluated on on a high fidelity simulation model of the wall mounting robot called WallMo.

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KW - interaction

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DO - 10.1109/CCTA.2018.8511329

M3 - Article in proceeding

SN - 978-1-5386-7699-8

SP - 1546

EP - 1551

BT - 2018 IEEE Conference on Control Technology and Applications (CCTA)

PB - IEEE

T2 - 2018 IEEE Conference on Control Technology and Applications (CCTA)

Y2 - 21 August 2018 through 24 August 2018

ER -

Physical Human Robot Interaction for a Wall Mounting Robot - External Force Estimation

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Physical Human Robot Interaction for a Wall Mounting Robot - External Force Estimation

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