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What is Human-Robot Interaction with Constraints about?

This paper presents a novel approach for managing Cartesian and joint constraints in torque-controlled robots, focusing on physical human-robot interaction. The proposed method involves a stack of tasks that prioritize joint limit avoidance and Cartesian limit avoidance, ensuring smooth task activation and compliance in dynamic environments. Experiments conducted on the KUKA LBR iiwa demonstrate the effectiveness of the algorithm in maintaining task performance while adhering to motion constraints.

Author

1065269030

Language

EN