Robotics: Science and Systems XXI

Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications

Bastien Muraccioli, Mathieu Celerier, Mehdi Benallegue, Gentiane Venture

Abstract:

Physical Human-Robot Interaction (pHRI) is critical for implementing Industry 5.0, which focuses on human-centric approaches. However, few studies explore the practical alignment of pHRI to industrial-grade performance. This paper introduces a versatile control framework designed to bridge this gap by incorporating the torque-based control modes: compliance control, null-space compliance, and dual compliance, all in static and dynamic scenarios. Thanks to our second-order Quadratic Programming (QP) formulation, strict kinematic and collision constraints are integrated into the system as safety features, and a weighted hierarchy guarantees singularity-robust task tracking performance. The framework is implemented on a Kinova Gen3 collaborative robot (cobot) equipped with a Bota force/torque sensor. A DualShock 4 game controller is attached to the robot's end-effector to demonstrate the framework's capabilities. This setup enables seamless dynamic switching between the modes, and real-time adjustments of parameters, such as transitioning between position and torque control or selecting a more robust custom-developed low-level torque controller over the default one. Built on the open-source robotic control software *mc_rtc*, our framework ensures reproducibility for both research and industrial deployment, this framework demonstrates a step toward industrial-grade performance and repeatability, showcasing its potential as a robust pHRI control system for industrial environments.

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Bibtex:

  
@INPROCEEDINGS{MuraccioliB-RSS-25, 
    AUTHOR    = {Bastien Muraccioli AND Mathieu Celerier AND Mehdi Benallegue AND Gentiane Venture}, 
    TITLE     = {{Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2025}, 
    ADDRESS   = {LosAngeles, CA, USA}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2025.XXI.084} 
}