Robot Compliance Control via Multimodal Perceptual Fusion

With the rapid development of intelligent robots, their use in aid in the fields of medicine, home services, and industry collaboration has grown steadily. This has focused most of the research on ensuring safe, secure, and efficient interaction between robots, humans, and the environment. Among multiple interaction safety mechanisms, compliance control is targeting the safe and injury-free interaction of robots with people and the environment by modulating the velocity and force of robots during the interaction. As an important supportive system, multimodal perception fusion, integrates visual, tactile, and force information to predict contact states and/or assist in making compliant control decisions. The value in several applications, such as medical intervention, industrial assembly, and service robotics, is described in this paper, to explain the use case of compliance control, and to provide a foundation of intelligence embodied research on intelligent robotic interaction technology implementation of compliance control in smart robotic interaction technologies.