Robot Skin: Fully-Compliant Control Framework Using Multi-modal Tactile Events

Emmanuel Dean; Karinne  Ramirez-Amaro; Florian Bergner; Gordon Cheng

doi:10.29057/icbi.v7iEspecial.4614

Emmanuel Dean Technical University of Munich
Karinne Ramirez-Amaro Technical University of Munich
Florian Bergner Technical University of Munich
Gordon Cheng Technical University of Munich

DOI: https://doi.org/10.29057/icbi.v7iEspecial.4614

Palabras clave: robo skin, compliant control, human-robot interaction

Resumen

En este artículo presentamos un sistema de control multi-modal para proveer a robots industriales con comportamientos dinámicos obedientes al tacto, aun cuando dichos robots son solamente comandados vía posición. Estos comportamientos dinámicos son obtenidos a través de la fusión de señales de sensores multi-modales obtenidas de una piel artificial robótica con diferentes esquemas de control. Estos comportamientos dinámicos permiten demostrar tareas a robots de manera segura para el usuario. El sistema presentado en este trabajo permite conectar actividades demostradas kinestéticamente con comandos de bajo nivel para robots. Esto se logra usando una novedosa técnica de enseñanza por demostración basada en un motor semántico. El sistema es validado mediante un robot móvil aplicado a un escenario industrial, donde nuestro sistema hace de un robot rígido, un sistema flexible, seguro, y adaptable bajo diferentes condiciones, por ejemplo, diferentes efectores finales con múltiples interfaces de control (interfaces de posición, velocidad y par).

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