Physical Human Robot Interaction: The aim of this research is to study about novel control algorithms to control robot in human environment. This interaction can be either intentional or accidental.  The main idea is to estimate external interactions (without using torque sensor information) and to increase the compliance of the system relying on fast control loops. The estimated interaction is further used to derive the robot appropriately. The algorithms are mainly implemented on KUKA LWR4 and iiwa robot arm.

 
:People 

• Dr. Mehdi Keshmiri, Professor, Robotics, Isfahan University of Technology, Isfahan    
• Dr. Hamid Sadeghian, Assistant Professor, Robotics and control, University of Isfahan, Isfahan    
• Dr. Abbas Karami, PhD, Isfahan University of Technology, Isfahan    

 
:Videos

• https://youtu.be/yI0Gkh4Okpw    
• https://youtu.be/ER-Mu98gjLU    
• https://youtu.be/wDrH-nhsXos    
• https://youtu.be/GZN1LTMHp68    

 
:Related Publications

• Abbas Karami, Hamid Sadeghian, Mehdi Keshmiri, Giuseppe Oriolo, “Force, Orientation and Position Control in Redundant          Manipulators in Prioritized Scheme with Null space Compliance,” Control Engineering Practice, 85, pp.23-33, 2019.
• Abbas Karami, Hamid Sadeghian, Mehdi Keshmiri, Giuseppe Oriolo, “Hierarchical Tracking Task Control in Redundant Manipulators with Compliance Control in the Null-Space ,” Mechatronics, pp. 1-14, 2018.
• Abbas Karami, Hamid Sadeghian, Mehdi Keshmiri, “Novel approaches to control multiple tasks in redundant manipulators: stability analysis and performance evaluation,” Advanced Robotics, 32(10), pp. 535-546, 2018.
• Fabio Ruggiero, Janathan Cacace, Hamid Sadeghian, and Vincenzo Lippiello, “Passivity-based control of VToL UAVs with a momentum-based estimator of external wrench and unmodeled dynamics,” Journal of  Robotics and Autonomous Systems, 72, pp.139-151, 2015.
• Hamid Sadeghian, Luigi Villani, Mehdi Keshmiri, and Bruno Siciliano, “Task Space Control of Robot Manipulators with Null-Space Compliance”, IEEE Transactions on Robotics, 30(2), pp. 493-506, 2014.
• Hamid Sadeghian, Luigi Villani, Mehdi Keshmiri, and Bruno Siciliano, “Dynamic Multi-Priority Control in Redundant Robotic Systems”, Robotica, 31(7), pp. 1155-1167, 2013.
• Fabio Ruggiero, Janathan Cacace, Hamid Sadeghian, Vincenzo Lippiello, "Impedance Control Of VTOL UAVS With A Momentum-Based External Generalized Forces Estimator", IEEE International Conference on Robotics and Automation, Hong Kong, 2014.
• Hamid Sadeghian, Mehdi Keshmiri, Luigi Villani, and Bruno Siciliano, “Null-Space Impedance Control with Disturbance Observer”, International Conference on Intelligent Robots and Systems, IROS2012, Algarve, Portugal.
• Hamid Sadeghian, Fanny Ficuciello, and Luigi Villani, “Global Impedance Control of Dual-Arm Cooperative Redundant Manipulators”, 10th IFAC Symposium on Robot Control, SYROCO2012, Dubrovnik, Croatia.
• Luigi Villani, Hamid Sadeghian, and Bruno Siciliano, “Null-Space Impedance Control for Physical Human Robot Interaction”, 19th CISM-IFtomm Symposium of Robot design, dynamics and control, ROMANSY19, 2012, Paris.
• Hamid Sadeghian, Mehdi Keshmiri, Luigi Villani, and Bruno Siciliano, “Priority Oriented Adaptive Control Of Kinematically Redundant Manipulators”, International Conference on Robotics and Automation, ICRA2012, Minnesota, USA.
• Hamid Sadeghian, Luigi Villani, Mehdi Keshmiri, and Bruno Siciliano, “Multi-Priority Control in Redundant Robotic Systems”, International Conference on Intelligent Robots and Systems, IROS2011, San Francisco, USA.