Force Sensor based Fuzzy Impedance Control Design for Leading and Guiding Missions on Home Service Robot

Abstract

Impedance control is an important research topic in human-robot interaction be-cause it can increase the safety and the variety of interactions The thesis realizes an impedance control system by mounting a 6-axis force sensor on the wrist of the home service robot When the robot and a person are walking hand on hand the robot detects the handing force from the person and generates a suitable pose of its end-effector and a moving path of its mobile platform to accomplish the leading and the guiding missions The proposed impedance control system treats the end-effector of the robot arm as a point mass with physical property and detects the force from the environment to calcu-late the next pose which it should move to Therefore the arm can move following the force imposed by the person For further improving the performance we add a fuzzy controller to real-time adjust three parameters of the impedance control system and to plan the moving direction and velocity of the robot In this thesis we implement the impendence control system in leading and guiding missions In the leading mission the person leads the robot to go through a specific path Whereas the robot can guide a blind person by handing on her/his hand in the guiding mission All the real experiments demonstrate the efficiency of the proposed system and the robot successfully accom-plishes these two missions

Date of Award	2017 Aug 3
Original language	English
Supervisor	Tzuu-Hseng S. Li (Supervisor)