Composable Models for Compliant Interaction Control (CMCI)
With the advent of highly redundant robots with model-based computed torque control, the specification of compliant behavior is increasingly important to create interactions with humans like cooperate pushing, carrying, walking, and with objects e.g. in grasping, polishing, or deburring. The idea of the CMCI project is to tackle the composition challenges that occur through the inevitable interplay of control, sensing, and the mechanism that creates the targeted compliant behavior, which is necessary to realize advanced robotics systems. To this end, the project aims at providing composable domain-specific (meta-)models to enable the specification of compliant behavior and model-transformations to synthesize the required motion control components, realizing the desired compliant interaction tasks. Both, the modeling and synthesis aspects will be realized in our workbench for modeling robot control architectures “CoSiMA”.