Kim, Geon (Chonnam National University), Yonrith, Phayuth (Chonnam National University), Hong, Ayoung (Chonnam National University)

Shared Admittance Control for Human-Robot Collaboration with a Mobile Manipulator

Scheduled for presentation during the Regular Session "Human-Robot Interaction" (FrAT5), Friday, July 18, 2025, 11:20−11:40, Room 109

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on August 2, 2025

Abstract

In this paper, we present a Human-Robot Collaboration (HRC) method for controlling a mobile manipulator without the use of a gripper. As part of the study, a force-torque sensor attached to the manipulator is utilized to measure forces during direct contact with a human or to maintain stable interaction with an object. Admittance control is employed to regulate the mobile manipulator's motion based on these force measurements. The mobile robot is controlled using PID control, while the manipulator is managed through a pseudo-inverse Jacobian approach derived via Singular Value Decomposition (SVD). Experimental results demonstrate successful HRC by maintaining a reference force with minimal additional force. This method offers the advantage of a cost-effective collaborative control system, eliminating the need for a gripper and avoiding complex control mechanisms.