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Publication - Professor Christopher Melhuish

    Compliance Control and Human-Robot Interaction

    Part II - Experimental Examples


    Khan, SG, Herrmann, G, Lenz, A, Al Grafi, M, Pipe, AG & Melhuish, CR, 2014, ‘Compliance Control and Human-Robot Interaction: Part II - Experimental Examples’. International Journal of Humanoid Robotics, vol 11.


    Compliance control is highly relevant to human safety in human robot interaction (HRI). This paper presents multi-dimensional compliance control of a humanoid robot arm. A dynamic model-free adaptive controller with an anti-windup compensator is implemented on four degrees of freedom of a humanoid robot arm. The paper is aimed to compliment the associated review paper on compliance control. This is a model reference adaptive compliance scheme which employs end-effector forces (measured via joint torque sensors) as a feedback. The robot’s body-own torques are separated from external torques via a simple but effective algorithm. In addition, an experiment of physical human robot interaction is conducted employing the above mentioned adaptive compliance control

    Full details in the University publications repository