Abstract
This paper addresses the stability of macro-mini robotic systems in a context of physical human-robot interaction (pHRI). A simple model including a one-degree-of-freedom (one-dof) macro robot and a one-dof mini robot is investigated using a state-space representation in order to assess the controllability and stability of the system. The conclusions of the analysis can be used in the design of multi-dof macro-mini systems. An example of a 12-dof macro-mini system is briefly described to illustrate potential applications.
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The financial support of the Natural Sciences and Engineering Research Council of Canada and of the Fonds de Recherche du Québec, Nature et Technologie is gratefully acknowledged.
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Gosselin, C. (2022). On the Stability of Macro-Mini Robotic Systems for Physical Human-Robot Interaction. In: Kecskeméthy, A., Parenti-Castelli, V. (eds) ROMANSY 24 - Robot Design, Dynamics and Control. ROMANSY 2022. CISM International Centre for Mechanical Sciences, vol 606. Springer, Cham. https://doi.org/10.1007/978-3-031-06409-8_1
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DOI: https://doi.org/10.1007/978-3-031-06409-8_1
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