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Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their generalisation is limited. This work proposed a hierarchical control architecture for robot manipulators and provided capabilities of reproducing human-like motions during unknown interaction dynamics. Our results show that the reproduced end-effector trajectories can preserve the main characteristics of the initial human motion recorded via a motion capture system, and are robust against external perturbations. The data indicate that some detailed movements are hard to reproduce due to the physical limits of the hardware that cannot reach the same velocity recorded in human movements. Nevertheless, these technical problems can be addressed by using better hardware and our proposed algorithms can still be applied to produce imitated motions.
Deploying robots from isolated operations to shared environments has been an increasing trend in robotics for the last decades. However, the requirement of robust interaction in highly variable environments is still beyond the capability of most robo
This paper presents an impedance control architecture for an electroacoustic absorber combining both a feedforward and feedback microphone-based system on a current driven loudspeaker. Feedforward systems enable good performance for direct impedance
Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a prominent approac
The natural impedance, or dynamic relationship between force and motion, of a human operator can determine the stability of exoskeletons that use interaction-torque feedback to amplify human strength. While human impedance is typically modelled as a
Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different task phases and environment constraints is crucial for safety and performance. Although many