人机协作拆卸是电子与机械产品可持续回收过程中的新兴趋势。它需要使用先进技术来协助工人完成重复性体力任务，并处理松动且可能已损坏的零部件。然而，在拆卸磨损或损坏的零部件时，机器人可能出现意外行为，因此与人及环境进行无害、共生的物理交互变得至关重要。本工作在控制层面应对这一挑战，确保在非计划交互和接触丢失情况下具备安全且无源的行为。所提出算法利用一种能量感知笛卡尔阻抗控制器，其具有能量缩放和阻尼注入特性，并采用增强型能量罐来限制从控制器流向机器人的功率。该控制器在使用 Franka Emika Panda 的真实有缺陷拧松任务中进行评估，并与标准阻抗控制器和混合力–阻抗控制器进行比较。结果证明了该算法在人机协作拆卸任务中的高度潜力。
英文摘要：
Human-robot collaborative disassembly is an emerging trend in the sustainable recycling process of electronic and mechanical products. It requires the use of advanced technologies to assist workers in repetitive physical tasks and deal with creaky and potentially damaged components. Nevertheless, when disassembling worn-out or damaged components, unexpected robot behaviors may emerge, so harmless and symbiotic physical interaction with humans and the environment becomes paramount. This work addresses this challenge at the control level by ensuring safe and passive behaviors in unplanned interactions and contact losses. The proposed algorithm capitalizes on an energy-aware Cartesian impedance controller, which features energy scaling and damping injection, and an augmented energy tank, which limits the power flow from the controller to the robot. The controller is evaluated in a real-world flawed unscrewing task with a Franka Emika Panda and is compared to a standard impedance controller and a hybrid force-impedance controller. The results demonstrate the high potential of the algorithm in human-robot collaborative disassembly tasks.
Plug, Play and Comply: Plugin-Based Compliant Control in ROS 2
College of Information Science and Technology, Eastern Institute of Technology（信息科学与技术学院，东方理工学院）；Zhejiang Key Laboratory of Industrial Intelligence and Digital Twin, Eastern Institute of Technology（浙江省工业智能与数字孪生重点实验室，东方理工学院）
Bounded haptic teleoperation of a quadruped robot's foot posture for sensing and manipulation
Institute of Perception, Action and Behaviour, School of Informatics, The University of Edinburgh（爱丁堡大学信息学院感知、行动与行为研究所）；Oxford Robotics Institute at the University of Oxford（牛津大学牛津机器人研究所）；School of Computer Science/Department of Electrical and Computer Engineering at McGill University（麦吉尔大学计算机科学学院/电气与计算机工程系）
A Null Space Compliance Approach for Maintaining Safety and Tracking Performance in Human-Robot Interactions
Department of Electrical and Computer Engineering, Western University（电气与计算机工程系，西方大学）；School of Artificial Intelligence and Automation, Huazhong University of Science and Technology（人工智能与自动化学院，华中科技大学）
Design and Control of Modular Soft-Rigid Hybrid Manipulators with Self-Contact
Computer Science and Artificial Intelligence Laboratory, MIT（麻省理工学院计算机科学与人工智能实验室）；Delft University of Technology（代尔夫特理工大学）；German Aerospace Center (DLR)（德国航空航天中心）
