Safe Approach for Assistant Robots Based on Admittance Control with Spacial Modulation(Conference Paper)

MATÍAS MONLLOR; RICARDO CARELLI; FLAVIO ROBERTI

Buenos Aires

Congreso; 2018 Argentine Conference on Automatic Control, AADECA 2018; 2018

AADECA

Due to the increase number of people with disabilities,new solutions are needed to be able to assist them in theirdaily life and thus improve their living conditions.In the present work, an admittance controller is proposed forassistance robots sensitive to obstacles, focused on people withdiminished visual capacities. The objective of the controller is tomodify the damping parameter as a function of nearby objects toprovide a haptic feedback to the user and allow him to approachthe target object at a safe speed. The results in the simulationshow the operation of the controller. Simulations are performed toobserve specific behaviors of the controller and tests are carriedout with a real robot. The results were satisfactory, the controllershowed a good performance in detecting obstacles and allowinga safe approach through haptic feedback to the user.