Design and implementation of compliant control for human-robot force interaction

This paper studies two compliant control techniques, force-compliant control and position-compliant control, for interactive applications between human and robot. Conventionally, force control laws such as impedance control and hybrid control are applied to control systems that perform force-compliant interaction between human and robots. Actuators with force/torque command inputs are thus required for implementing force control laws in real applications. However, actuators only with position command inputs cannot be directly applied to implement force control laws, and thus the position-compliant control with behavior filter is proposed in this paper. By setting the control parameters of the behavior filter, adequate compliant behaviors are obtained by adjusting and modifying the applied position commands. Some experimental tests are applied to evaluate the execution performances of different approaches. Experimental results indicate that the proposed compliant control approach is feasible for developing robots that can perform force compliant interaction with human.