Versatile interaction control and haptic identification in humans and robots

Abstract

Traditional industrial robot controllers are typically dedicated to a specific task, while humans always interact with new objects yielding unknown interaction forces and instability. In this chapter, we examine the neuromechanics of such contact tasks. We develop a model of the necessary adaptation of force, mechanical impedance and planned trajectory for stable and efficient interaction with rigid or compliant surfaces of different structures. Simulations demonstrate that this model can be used as a novel adaptive robot controller yielding versatile control in representative interactive tasks such as cutting, drilling and haptic exploration, where the robot acquires a model of the geometry and structure of the surface along which it is moving.