Italian Institute of Technology (IIT), Genova, Italy

Advanced Industrial Automation introductory video

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Active Compliance Control with gravity compensation. The robot behaves like a light weight object with very low joint impedance.
The little force applied by a soft steel ruler is enough to push the robot. It demonstrates the low compliance behavior.

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This video presents a novel approach to human-robot cooperation in performing tasks with dynamic uncertainties. The essential element of this approach is a multi-modal interface that provides the robot with the feedback about the human motor behaviour in real-time. The human muscle activity measurements and the arm force manipulability properties encode the information about the motion and impedance, and the intended configuration of the task frame, respectively. Through this human-in-the-loop framework, the developed hybrid controller of the robot can adapt its actions to provide the desired response in different phases of the cooperative task. We experimentally evaluate the proposed approach in a two-person sawing task that requires an appropriate complementary behaviour from the two agents.

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