DrapeBot Deliverable D3.5 "Human-robot real-time interaction"

This deliverable presents the low-level control algorithms developed to implement a physical Human-Robot Interaction (pHRI) during the human-robot collaborative transport of carbon fiber plies. The goal is to implement a natural Human-Robot Interaction (HRI) through control algorithms that can arbitrate the role of the leader to either the human or the robot. The control algorithms are developed to be seamlessly integrated into the low-level control architecture developed for DrapeBot demonstrators presented in D3.4. In particular, the role of arbitration exploits GameTheory (GT) to model pHRI. The approach was validated on the DrapeCell and applied to the Dallara use case, demonstrating the reliability and effectiveness of the solution. Experimental results and KPI on the topic are reported in D7.3.