Passivity Filter for Variable Impedance Control

• Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 7159 - 7164
• Main Authors: Bednarczyk, Maciej, Omran, Hassan, Bayle, Bernard
• Format: Conference Proceeding
• Language: English
• Published: IEEE 24.10.2020
• Subjects: Control systems; Design methodology; Impedance; Intelligent robots; Safety

While impedance control is one of the most commonly used strategies for robot interaction control, variable impedance control is a more recent preoccupation. If designing impedance control with varying parameters allows increasing the system flexibility and dexterity, it is still a challenging issue...