Whole-Body Compliance for Human-Robot Interaction

Betreuer: Sven Tittel

These days, physical human-robot interaction (pHRI) is often realized by attaching a force/torque sensor to the end effector of a robot. Unfortunately, forces acting on the rest of the robot's body are ignored in that case. This seminar deals with different approaches to recognize forces over the whole body of the robot. It focuses on the underlying methodologies as well as advantages and disadvantages of each approach.