5. Conclusion

This article focuses on compliant impedance and admittance robotic control methods, which are best suited to the context of human-robot physical collaboration (pHRC). The article summarizes the interest of these methods and the challenges they pose, while proposing a compliance approach (admittance control) whose parameters are adaptable and variable over the course of the task.

The approach described uses the human's interaction forces and speed of movement to adapt admittance parameters using fairly simple mathematical formulae that can be explained concretely. This principle of adapting the online compliance level is applied to a typical comanipulation and object transport application with a concrete industrial scenario, where robot operation can simply combine collaborative operation (in contact with the human) and conventional trajectory-following operation...