Address:
Mr Dmitrii Popov from the Automation, Production and Computer Sciences department (DAPI in French) and LS2N laboratory -Nantes Laboratory of Digital Sciences, will present his research about:
"Modeling of Physical Interactions Between a Human and a Robot with Adaptive Compliance"
The thesis deals with the modeling of physical interactions between a human and a robot, which is extremely important for the design and development of modern collaborative work cells for new industrial applications. It focuses on the development of interaction identification techniques in order to improve human safety and human-robot work cell performance. Special attention is paid to
the accuracy issues caused by the noisy measurements data and the interaction parameters identification in singular cases, which can arise during the physical interaction because of limited measurements information. It presents new techniques for computing the interaction force and its application point using measurement data obtained from the robot internal joint torque sensors only. In addition, the adaptive interaction handling controller is developed, which integrates the interaction identification in order to ensure human safety by changing the robot behavior mode.
The validity of the developed approaches and their efficiency was confirmed by an experimental study involving collaboration between an operator and the KUKA LBR iiwa 14 robot.
Organizer(s)
Thesis acreditation from IMT Atlantique with the Doctoral School SPIN
Keywords : Physical Human-Robot Interaction, Safe Robotics, Human-Robot Collaboration, Interaction Parameters Identification, Singularity Resolution, Adaptive Interaction Handling