Backdrivable Macro-mini robotic system for intuitive pHRI

This video demonstrates the operation of a macro-mini robot for physical human-robot interaction. The macro-mini system consists of a (6 3)-DoF hybrid parallel robot and a 3-DoF gantry system. No force/torque sensor is used. The system can take advantage of the large workspace (the macro robot) and of the fast response (the mini robot). Besides, the hybrid parallel robot provides a large range of possible rotations and the gripper is controlled using the robot’s redundant DoFs (no gripper actuator at the end-effector). A peg-in-hole test and a teaching pick-and-place task are shown in the last part of the video as examples to illustrate the capabilities of the robot. Links to related research articles: - The design and analysis of the hybrid parallel robot (IEEE T-RO, Open Access): - The motion control of the parallel robot (Mechatronics): Links to