2 papers
eess.SY2025
Viability-Preserving Passive Torque Control
Zizhe Zhang, Yicong Wang, Zhiquan Zhang +2
Conventional passivity-based torque controllers for manipulators are typically unconstrained, which can lead to safety violations under external perturbations. In this paper, we em…
cs.RO2024
Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators
Zhiquan Zhang, Tianyu Li, Nadia Figueroa
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control law…