" Soutenance de thèse de Benjamin NAVARRO. | Université d'Orléans

Université d'Orléans

Soutenance de thèse de Benjamin NAVARRO.

14/12/2017 - 10:00 - 14/12/2017 - 13:00

URL: http://www.univ-orleans.fr/actus/soutenances

Nom du contact: Etudes Doctorales

Courriel du contact: etudes.doctorales@univ-orleans.fr

Lieu: Université - Amphithéâtre Saint Priest - MONTPELLIER

Titre : Solutions for safe human-robot collaboration.

Discipline : Robotique

ECOLE DOCTORALE MIPTIS

Résumé :

Physical human-robot interaction is becoming crucial in an increasing number of applications, from health care to industrial processes, with many types of robots: serial manipulators, mobile platforms, mobile manipulators or humanoids. During such interactions, the robot must not cause any harm to the human operator. To this end, some standardization efforts have been done to provide guidelines (ISO 10218, ISO/TS 15066) when developing human-robot collaboration tasks but no generally accepted solution have been proposed so far to fulfill these requirements. Present day solutions focus on a limited set of features and so can't be used, alone, to accommodate with a variety of scenarios. In this thesis, we propose a two-layer safe damping control framework, alongside with its open source implementation OpenPHRI, that allows to describe a wide range of tasks while being able to ensure multiple safety constraints, as well as a novel redundancy solution for mobile manipulators with an omnidirectional base that emphasis intuitiveness during human-robot collaborations.