Interactive Force Control Based on Multimodal Robot Skin for Physical Human?Robot Collaboration

This work proposes and realizes a control architecture that can support the deployment of large-scale robot skin in Human-Robot Collaboration scenario. It is shown, how whole-body tactile feedback extend capabilities robots during dynamic interactions by providing information about multiple contacts across robot's surface. Specifically, an uncalibrated system used to implement stable force while simultaneously handling multi-contact user. The formulates tasks for control, guidance, collision avoidance, compliance, fuses them with multi-priority redundancy resolution strategy. approach evaluated on omnidirectional mobile-manipulator dual arms covered skin. Results are assessed under conditions, showing multi-modal enables robust at same time remaining responsive user's interactions.