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Nonlinear Control Synthesis for Facilitation of Human-Robot Interaction

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Date Issued:
2019
Abstract/Description:
Human-robot interaction is an area of interest that is becoming increasingly important in robotics research. Nonlinear control design techniques allow researchers to guarantee stability, performance, as well as safety, especially in cases involving physical human-robot interaction (PHRI). In this dissertation, we will propose two different nonlinear controllers and detail the design of an assistive robotic system to facilitate human-robot interaction. In Chapter 2, to facilitate physical human-robot interaction, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical interaction during activities such as hair-grooming, scratching, face-sponging, etc. Specifically, we propose a hybrid force/velocity/attitude control for our physical human-robot interaction system which is based on measurements from a force/torque sensor mounted on the robot wrist. While automatically aligning the end-effector surface with the unknown environmental (human) surface, a desired commanded force is applied in the normal direction while following desired velocity commands in the tangential directions. A Lyapunov based stability analysis is provided to prove both convergence as well as passivity of the interaction to ensure both performance and safety. Simulation as well as experimental results verify the performance and robustness of the proposed hybrid force/velocity/attitude controller in the presence of dynamic uncertainties as well as safety compliance of human-robot interactions for a redundant robot manipulator.Chapter 3 presents the design, analysis, and experimental implementation of an adaptive control enabled intelligent algorithm to facilitate 1-click grasping of novel objects by a robotic gripper since one of the most common types of tasks for an assistive robot is pick and place/object retrieval tasks. But there are a variety of objects in our daily life all of which need different optimal force to grasp them. This algorithm facilitates automated grasping force adjustment. The use of object-geometry free modeling coupled with utilization of interaction force and slip velocity measurements allows for the design of an adaptive backstepping controller that is shown to be asymptotically stable via a Lyapunov-based analysis. Experiments with multiple objects using a prototype gripper with embedded sensing show that the proposed scheme is able to effectively immobilize novel objects within the gripper fingers. Furthermore, it is seen that the adaptation allows for close estimation of the minimum grasp force required for safe grasping which results in minimal deformation of the grasped object.In Chapter 4, we present the design and implementation of the motion controllerand adaptive interface for the second generation of the UCF-MANUSintelligent assistive robotic manipulator system. Based on usability testingfor the system, several features were implemented in the interface thatcould reduce the complexity of the human-robot interaction while alsocompensating for the deficits in different human factors, such as WorkingMemory, Response Inhibition, Processing Speed; , Depth Perception, SpatialAbility, Contrast Sensitivity. For the controller part, we designed severalnew features to provide the user has a less complex and safer interactionwith the robot, such as `One-click mode', `Move suggestion mode' and`Gripper Control Assistant'. As for the adaptive interface design, wedesigned and implemented compensators such as `Contrast Enhancement',`Object Proximity Velocity Reduction' and `Orientation Indicator'.
Title: Nonlinear Control Synthesis for Facilitation of Human-Robot Interaction.
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Name(s): Ding, Zhangchi, Author
Behal, Aman, Committee Chair
Pourmohammadi Fallah, Yaser, Committee Member
Haralambous, Michael, Committee Member
Boloni, Ladislau, Committee Member
Xu, Yunjun, Committee Member
University of Central Florida, Degree Grantor
Type of Resource: text
Date Issued: 2019
Publisher: University of Central Florida
Language(s): English
Abstract/Description: Human-robot interaction is an area of interest that is becoming increasingly important in robotics research. Nonlinear control design techniques allow researchers to guarantee stability, performance, as well as safety, especially in cases involving physical human-robot interaction (PHRI). In this dissertation, we will propose two different nonlinear controllers and detail the design of an assistive robotic system to facilitate human-robot interaction. In Chapter 2, to facilitate physical human-robot interaction, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical interaction during activities such as hair-grooming, scratching, face-sponging, etc. Specifically, we propose a hybrid force/velocity/attitude control for our physical human-robot interaction system which is based on measurements from a force/torque sensor mounted on the robot wrist. While automatically aligning the end-effector surface with the unknown environmental (human) surface, a desired commanded force is applied in the normal direction while following desired velocity commands in the tangential directions. A Lyapunov based stability analysis is provided to prove both convergence as well as passivity of the interaction to ensure both performance and safety. Simulation as well as experimental results verify the performance and robustness of the proposed hybrid force/velocity/attitude controller in the presence of dynamic uncertainties as well as safety compliance of human-robot interactions for a redundant robot manipulator.Chapter 3 presents the design, analysis, and experimental implementation of an adaptive control enabled intelligent algorithm to facilitate 1-click grasping of novel objects by a robotic gripper since one of the most common types of tasks for an assistive robot is pick and place/object retrieval tasks. But there are a variety of objects in our daily life all of which need different optimal force to grasp them. This algorithm facilitates automated grasping force adjustment. The use of object-geometry free modeling coupled with utilization of interaction force and slip velocity measurements allows for the design of an adaptive backstepping controller that is shown to be asymptotically stable via a Lyapunov-based analysis. Experiments with multiple objects using a prototype gripper with embedded sensing show that the proposed scheme is able to effectively immobilize novel objects within the gripper fingers. Furthermore, it is seen that the adaptation allows for close estimation of the minimum grasp force required for safe grasping which results in minimal deformation of the grasped object.In Chapter 4, we present the design and implementation of the motion controllerand adaptive interface for the second generation of the UCF-MANUSintelligent assistive robotic manipulator system. Based on usability testingfor the system, several features were implemented in the interface thatcould reduce the complexity of the human-robot interaction while alsocompensating for the deficits in different human factors, such as WorkingMemory, Response Inhibition, Processing Speed; , Depth Perception, SpatialAbility, Contrast Sensitivity. For the controller part, we designed severalnew features to provide the user has a less complex and safer interactionwith the robot, such as `One-click mode', `Move suggestion mode' and`Gripper Control Assistant'. As for the adaptive interface design, wedesigned and implemented compensators such as `Contrast Enhancement',`Object Proximity Velocity Reduction' and `Orientation Indicator'.
Identifier: CFE0007798 (IID), ucf:52360 (fedora)
Note(s): 2019-12-01
Ph.D.
Engineering and Computer Science, Electrical and Computer Engineering
Doctoral
This record was generated from author submitted information.
Subject(s): Human-robot Interaction -- nonlinear control -- assistive robot
Persistent Link to This Record: http://purl.flvc.org/ucf/fd/CFE0007798
Restrictions on Access: campus 2020-12-15
Host Institution: UCF

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