Name
Title | ||
|---|---|---|
Variable Stiffness Control with Strict Frequency Domain Constraints for Physical Human-Robot Interaction |
Abstract | ||
|---|---|---|
Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain constraints. Firstly, to reduce conservativeness, we characterize and constrain the impedance rendering, actuator saturation, disturbance/noise rejection and passivity requirements into their specific frequency bands. This relaxation makes sense because of the restricted frequency properties of the interactive robots. Secondly, a gain-scheduled method is taken to regulate the controller gains with respect to the desired stiffness. Thirdly, the scheduling function is parameterized via a nonsmooth optimization method. Finally, the proposed approach is validated by simulations, experiments and comparisons with a gain-fixed passivity-based PID method. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/IROS45743.2020.9340895 | IROS |
DocType | ISSN | Citations |
Conference | IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS), Las Vegas, 2020 | 0 |
PageRank | References | Authors |
0.34 | 0 | 5 |