One of the biggest challenges in human-robot interaction is how to enable natural physical interaction between robots and people. My colleague, Barrett Ames, and I are working on a project to address just that. The goal of purposeful compliance is to blend pre-planned trajectories with forces sensed in real-time to allow a robot to physically guide a human while still being responsive to their feedback. We are developing a system that to enable this behavior without the use of hardware-complaint systems by relying solely on force/torque sensors and real-time trajectory adjustment.
This project is still in-progress. Please check back for updates.