Control Algorithm for Human–Robot Cooperation

  • Seungyeol LeeEmail author
Part of the SpringerBriefs in Computer Science book series (BRIEFSCOMPUTER, volume 8)


In this chapter, we suggested a model of the human–robot cooperation system according to the contact conditions, using the adjustable impedance parameters. Also, we structured the whole human–robot cooperative control system by separating into the human impedance control and the experimental impedance control with an inner motion control loop. The experimental contents can be categorized into four areas. We investigated the influences to the system of changes in the impedance parameters, force augmentation ratio, and environmental stiffness parameter. The influence of the inner motion control loop against the system is also described.


Target dynamics Impedance parameters Press fit Unconstrained case Constrained case Force augmentation ratio Compliance Stiffness parameter 


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    Bruno S., Luigi V. (1999) Robot force control. Kluwer Academic Publishers, BostonGoogle Scholar
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    S.Y. Lee, K.Y. Lee, S.H. Lee, et al. (2007) Human–robot cooperation control for installing heavy construction materials. Autonomous Robots, 22(3):305–319Google Scholar

Copyright information

© The Author 2011

Authors and Affiliations

  1. 1.Robotics Research DivisionDaegu Gyeongbuk Institute of Science and TechnologyDaeguRepublic of Korea

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