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, this study proposes a flexible control framework that adjusts the robot’s sensitivity to human movements, therefore, it can offers a solution that balances safety, comfort and efficiency.

Project Contents

Human Risk Assessment

• Risk assessment model to quantify collision risk between coworker's segments and the robot's parts 

• Considering relative distance, Speed Separation Monitoring(SSM) criteria from the ISO/TS 15066 standard 

Hierarchical Control for whole body force control and multitask

mecanum wheel based mobile manipulator (manipulator 7 degrees of freedom , mobile 3 degrees of freedom)

• Whole body control framework using the dynamically consistent generalized hierarchical contorl(DGHC) 

Task Priority and Transition Rule

• Finite state machine(fsm) based priority transition

• The total number of tasks is 13, with a corresponding 31 DOFs