Fiziksel insan robot etkileşimlerinin dokunsal iletişim üzerinden sağlanması için yeni bir kontrol altyapısı

In the near future, humans and robots are expected to perform collaborative tasks involving physical interaction in various different environments such as homes, hospitals, and factories. One important research topic in physical Human-Robot Interaction (pHRI) is to develop tacit and natural haptic communication between the partners. Although there are already several studies in the area of Human-Robot Interaction, the number of studies investigating the physical interaction between the partners and in particular the haptic communication are limited and the interaction in such systems is still artificial when compared to natural human-human collaboration. For example, when two people collaborate to transport a table, they can intuitively sense each other?s intention and decide on load sharing and role allocation based on the state of the table and the forces transmitted to each other. Moreover, they can resolve the conflicts occurring in constrained environments based on the force interaction again. Although the tasks involving physical interaction such as the table transportation can be planned and executed naturally and intuitively by two humans, there are unfortunately no robots in the market that can collaborate and perform the same tasks with us. In this thesis, we propose a new controller for the robotic partner that is designed to a) detect the intentions of the human operator through haptic channel using a fuzzy controller b) adjust its contribution to the task via a variable impedance controller and c) resolve the conflicts during the task execution by controlling the internal forces.