A Multi-Modal Control Method for a Collaborative Human-Robot Building Task in Off-Earth Habitat Construction

Poster (2021)

Authors

H.W. Loopik Human-Robot Interaction - Mechanical, Maritime and Materials Engineering
L. Peternel Human-Robot Interaction - Mechanical, Maritime and Materials Engineering
Research Group
Human-Robot Interaction (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2021 H.W. Loopik, L. Peternel
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Published Date

2021

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Human-Robot Interaction

Abstract

Space exploration is characterized by a limited amount of resources and tools. This particularly stands out in habitat construction, where heavy machinery like cranes are unavailable and manual work still plays a key role. To mitigate this, we propose a human-robot collaboration method for habitat construction tasks, which involve several key subtasks: grasping objects of various shapes, carrying them, and aligning them for assembly. The proposed method is based on an impedance controller and includes four modes of operation, that are tailored for specific sub-tasks. Each mode prescribes a robot stiffness behavior, needed for collaborative execution. The human operator can easily switch between the mode in realtime via a voice interface. To demonstrate the functionality of the proposed method in the construction task, we performed an experiment using KUKA LBR iiwa robot arm and qb robotics SoftHand robotic hand. These results indicate that the method offers a practical solution for human-robot collaborative construction tasks.

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