Robot Skin: Fully-Compliant Control Framework Using Multi-modal Tactile Events
Abstract
In this paper, we present a multi-modal control framework to provide compliant behaviors on industrial robots, even when the robots are position commanded. This is obtained by fusing multi-modal sensor signals from robot skin with different control approaches. These compliant behaviors allow to teach robots safely. The presented framework is able to bridge kinesthetically demonstrated activities with low-level robot commands using a state-of-the-art teaching by demonstration method based on a semantic engine. We validate our framework in a real wheeled robot for an industrial scenario, where our presented framework enables a stiff robotic system to be compliant, flexible, and adaptable to different working conditions, e.g. different end-effectors with multiple command interfaces (position/velocity and torque interfaces).
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