Goal of This project

• In environments where humans and robots collaborate closely, balancing the safety, efficiency, and comfort become a critical challenge. Excessive precautions, while ensuring safety, may ignore operational efficiency and comfort particularly in the coexistence-collaboration blended tasks. To address this, the study proposes a flexible control framework that adjusts the robot’s sensitivity to human movements, offering solutions that balance safety, comfort and efficiency.

Project Contents

Human Risk Assessment

• Developed a risk assessment model to quantify collision risk between coworker segments and robot parts.

• Considered relative distance and Speed Separation Monitoring (SSM) criteria from the ISO/TS 15066 standard.

Hierarchical control for whole-body force control and multi-task management 

• Implemented Whole-body control framework using Dynamically Consistent Generalized Hierarchical Control (DGHC). 

Task Priority and Transition Rule

• Task priority and transition rules implemented via a Finite State Machine (FSM)  considiering  risk  levles
  
  

• Managed 13 tasks corresponding to a total of 31 degrees of freedom (DOFs).