In Pursuit of Safety: An Open-Source Library for Physical Human-Robot Interaction

Open PHRI is a C++/Python general-purpose software scheme with several built-in safety measures designed to ease robot programming for physical human-robot interaction (pHRI) and collaboration. Aside from providing common functionalities, the library can be easily customized and enhanced thanks to the project's open-source nature. The OpenPHRI framework consists of a two-layer damping controller, depicted in Figure 1. This allows the user to provide compliance and other safety features at both the joint and task levels, depending on the application.

Mots clés

Robots, Software development, Task analysis, Safety, Human-robot interaction, Open source software

Domaines

Automatique / Robotique

Fichier principal

08360398 In Pursuit.pdf (1.92 Mo)

Origine	Fichiers produits par l'(les) auteur(s)

Aïcha FONTE : Connectez-vous pour contacter le contributeur

https://hal.science/hal-01818911

Soumis le : vendredi 24 mai 2019-12:08:27

Dernière modification le : mercredi 30 octobre 2024-19:42:14

Dates et versions

hal-01818911 , version 1 (24-05-2019)

Identifiants

HAL Id : hal-01818911 , version 1
DOI : 10.1109/MRA.2018.2810098

Citer

Benjamin Navarro, Aïcha Fonte, Philippe Fraisse, Gérard Poisson, Andrea Cherubini. In Pursuit of Safety: An Open-Source Library for Physical Human-Robot Interaction. IEEE Robotics and Automation Magazine, 2018, 25 (2), pp.39-50. ⟨10.1109/MRA.2018.2810098⟩. ⟨hal-01818911⟩

Exporter

BibTeX XML-TEI Dublin Core DC Terms EndNote DataCite

Collections

CNRS UNIV-ORLEANS IDH LIRMM TDS-MACS MIPS UNIV-MONTPELLIER PRISME-CVL INSA-GROUPE INSA-CVL ANR

291 Consultations

138 Téléchargements