Energy-aware adaptive impedance control using offline task-based optimization

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

3 Citations (Scopus)

Abstract

Robotic tasks involving interaction with an environment are commonly addressed by means of impedance control. Under the framework of energy-aware robotics, and motivated by evidence that many tasks benefit from variable impedance, we leverage a geometric formulation of an impedance controlled manipulator with time-varying impedance, to design an optimisation problem able to produce an open-loop, task-based control action. A feedback controller accounts for model variations and disturbances from the nominal task and completes the control strategy. Beyond achieving passivity by means of energy tanks, a novel energy budgeting protocol ensures safety along task execution. Simulations on a 5-DoF robot executing a peg-in-hole task validate the approach.

Original languageEnglish
Title of host publication2021 20th International Conference on Advanced Robotics, ICAR 2021
PublisherIEEE
Pages187-194
Number of pages8
ISBN (Electronic)978-1-6654-3684-7, 978-1-6654-3683-0
ISBN (Print)9781665436847
DOIs
Publication statusPublished - 5 Jan 2022
Event20th International Conference on Advanced Robotics, ICAR 2021 - Cankarjev dom, Ljubljana, Slovenia
Duration: 6 Dec 202110 Dec 2021
Conference number: 20

Conference

Conference20th International Conference on Advanced Robotics, ICAR 2021
Abbreviated titleICAR 2021
Country/TerritorySlovenia
CityLjubljana
Period6/12/2110/12/21

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