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Safe physical human-robot collaboration

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Published on Feb 19, 2014

The video summarizes the state of the on-going research activities on physical Human-Robot Collaboration (pHRC) at the DIAG Robotics Lab, Sapienza University of Rome, as of March 2013, and performed within the European research project FP7 287511 SAPHARI (http://www.saphari.eu).

pHRC is based on a control framework imposing robot behaviors that are consistent with safety and coexistence requirements. Safety is guaranteed by a collision avoidance method based on depth sensor information. The user can start a collaboration phase with a simple gesture. Exchanged contact forces are estimated combining joint torque residuals and geometric information from a depth sensor. Only the designated collaborating hand is allowed to contact the robot end-effector.

Reference: F. Flacco, A. De Luca, "Safe physical human-robot collaboration," 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, J, p. 2072, November 2013. DOI:10.1109/IROS.2013.6696635, (IROS 2013 Best Video Award Finalist)

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