A Survey of Control Methods for Robot Compliant Behaviour

REN Danmei; BIAN Feifei

doi:10.13976/j.cnki.xk.2024.4003

Volume 53 Issue 4

Aug. 2024

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INFORMATION AND CONTROL > 2024 > 53(4): 433-452. > DOI: 10.13976/j.cnki.xk.2024.4003 CSTR: 32166.14.j.cnki.xk.2024.4003

REN Danmei, BIAN Feifei. A Survey of Control Methods for Robot Compliant Behaviour[J]. INFORMATION AND CONTROL, 2024, 53(4): 433-452. DOI: 10.13976/j.cnki.xk.2024.4003

Citation:

REN Danmei, BIAN Feifei. A Survey of Control Methods for Robot Compliant Behaviour[J]. INFORMATION AND CONTROL, 2024, 53(4): 433-452. DOI: 10.13976/j.cnki.xk.2024.4003

Citation:

REN Danmei, BIAN Feifei. A Survey of Control Methods for Robot Compliant Behaviour[J]. INFORMATION AND CONTROL, 2024, 53(4): 433-452. DOI: 10.13976/j.cnki.xk.2024.4003

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A Survey of Control Methods for Robot Compliant Behaviour

REN Danmei^1, ,,
BIAN Feifei²

1.
Nanjing University ofScience and Technology ZiJin College, Nanjing 210046, China
2.
Nanjing Research Institute ofElectronics Technology, Nanjing 210039, China

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Received Date: February 29, 2024
Revised Date: June 03, 2024
Accepted Date: April 17, 2024

Graphical Abstract

Abstract

Abstract

Robot compliant behavior means that the robot can dynamically adjust its own motion strategy, so as to show certain compliance to the physical interaction from human beings or environments.We review the control methods for robot compliant behavior. Firstly, the robot compliant control methods are classified according to different control loops. Then, the methods implemented in motion control loop, path planning loop and task scheduling loop are collected and summarized. The different characteristics of robot compliance brought by each method are analyzed. Finally, several typical applications of robot compliant control are summarized, and the future trend of robot compliant control technology is prospected, in order to provide new ideas and directions for the research of robot compliant control.
- human-robot collaboration,
- physical human-robot interaction,
- compliant control,
- robot compliance

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References (131)

References

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