5 papers
Impedance Control via Generalized Output Regulation
Hélio Jacinto Cruz Neto, Victor Shime, Thiago Boaventura
Achieving a desired impedance during physical interaction remains a central problem in compliant control. In many practical implementations, admittance control combined with linear…
Contraction Metric Based Safe Reinforcement Learning Force Control for a Hydraulic Actuator with Real-World Training
Lucca Maitan, Lucas Toschi, CÃcero Zanette +3
Force control in hydraulic actuators is notoriously difficult due to strong nonlinearities, uncertainties, and the high risks associated with unsafe exploration during learning. Th…
Leveraging Port-Hamiltonian Theory for Impedance Control Benchmarking
Leonardo F. Dos Santos, Elisa G. Vergamini, CÃcero Zanette +2
This work proposes PH-based metrics for benchmarking impedance control. A causality-consistent PH model is introduced for mass-spring-damper impedance in Cartesian space. Based on…
Impedance Space Method: Time-Independent Parametric Ellipses for Robot Compliant Control
Leonardo F. Dos Santos, CÃcero Zanette, Elisa G. Vergamini +2
This paper proposes a novel 3D graphical representation for impedance control, called the impedance space, to foster the analysis of the dynamic behavior of robotic compliant contr…
Load-independent Metrics for Benchmarking Force Controllers
Victor Shime, Elisa G. Vergamini, CÃcero Zanette +4
Torque-controlled actuators are critical components in mechatronic systems that closely interact with their environment, such as legged robots, collaborative manipulators, and exos…