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Sami Haddadin
Leibniz Universität Hannover
Robots and Humans in the Digital World
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Unimate & PUMA
George Devol & Joseph Engelberger in 50’s Victor Scheinman at Unimation
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Industrial Robotics
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Human-Centered Robotics
Industry & SMEs Medicine
Assistive careService roboticsElderly Care
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Source: Robot & Frank
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Physical Interaction
Physicalinteraction
Force Control(Craig & Raibert,
Siciliano)
Torque Control(Paul, Khatib,
Hirzinger, Albu-Schäffer)
Modeling Dynamics (Atkeson & Hollerbach,
Khatib)
Impedance Control(Hogan, Albu-Schäffer, Ott)
Flexible Joint (Spong, De Luca)
Collision Handling (De Luca, Haddadin)
Mechatronics(Hirzinger)
Safety (Haddadin, Albu-Schäffer)
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Early pHRI
Stanford, DLR
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The Key To Sensitivity
Source: wikispaces
Hirzinger et. al. IJRR2002
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The Key To Sensitivity
Source: wikispaces
Hirzinger et. al. IJRR2002
Dynamics Models
Model Based Control
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Take me by the hand
Albu-Schäffer et. al. ICRA 2002, IJRR2007
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Cartesian Impedance Control
Albu-Schäffer et. al. ICRA 2002, IJRR2007
Hogan JDSMC, 1985
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Unified Force/Impedance Control
Schindlbeck & Haddadin, ICRA2015
• No force sensing necessary
• Provably stable for arbitrary passive environments
• Deals with contact discontinuities
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The Basis for Reaction: Collision Handling
Haddadin, De Luca & Albu-Schäffer, in review at TRO
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The Basis for Reaction: Collision Handling
Haddadin, De Luca & Albu-Schäffer, in review at TRO
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Collision Detection and Reaction
De Luca & Mattone 2004, De Luca et. al. 2006, Haddadin et. al. IROS2008,
Haddadin et. al. RAM2011, Haddadin et al. Springer 2012
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Detecting Contacts with Sharp Tools
Haddadin et. al, RAM 2017
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Machine Learning Based Approach
What is the intention of a contact?
• Modeling seems hopeless
• Signals are, however, discriminative
• Why not data-driven?
Golz, Osendorfer & Haddadin, ICRA2015
Source: Korea University
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Discriminate Collision from Interaction
Golz, Osendorfer & Haddadin, ICRA2015
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Learning Assembly
Johannsmeier & Haddadin, 2017
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Crash-Testing in Robotics
Haddadin et. al. RSS 2007
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Haddadin et. al. RSS 2007
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Goal: „The PC of Robotics that is as easy to use as an iPhone“
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EASY-TO-USE PROGRAMMING
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HIGH-PRECISION REPEATABILITY
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AGILE LIKE A HUMAN ARM
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HUMANLIKE SENSE OF TOUCH
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COLLISION VS. SAFE INTERACTION
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VIRTUAL WALLS
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SENSITIVE INSERTION
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Robotic Natives
Dry dishes Barbecue
Prepare lemondade Prepare coffee
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Software and Hardware in Computing
Hardware
Software
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Software and Hardware in Robotics
Hardware
Software
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Tele-Care and Tele-Medicine
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Thanks to ...
and many others!
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