IPAB Workshop - 07/03/2019 Speaker: Keyhan Babarahmati Talk Title: A Passivity-based Approach to State-dependent Variable Impedance Control Talk abstract: Robots have widespread use in manufacturing where they operate in highly structured environments with minimal human-robot interaction. Recently, robots have been introduced to other industries (e.g.\ healthcare), requiring more dynamic tasks that cannot be fully characterized a priori. The impedance controller, as introduced by Neville Hogan, is a widespread technique enabling robots to interact with uncertain environments, within certain boundaries, by controlling the robot to act as an equivalent mechanical impedance or Mass-Spring-Damper. Nevertheless, stability of such systems highly depends on proper controller gains, which are difficult to tune for dynamic tasks (e.g.: polishing, locomotion, etc.) in unstructured environments that require adaptive trajectories and/or variable impedance gains. In particular, tasks where uncertain end-effector contact state may occur (e.g.: polishing, human robot collaboration, etc.) pose a challenge to the robots' controllers that rely on contact for ensuring system stability. Therefore, it is required to find control methodology that gives robots the capabilities of varying their controller gains w.r.t. aforementioned dynamic tasks whilst remaining passive, as passivity of the system ensures its stability both in free motion and when in contact. Mar 07 2019 12.45 - 14.00 IPAB Workshop - 07/03/2019 Keyhan Babarahmati G.03, IF
IPAB Workshop - 07/03/2019 Speaker: Keyhan Babarahmati Talk Title: A Passivity-based Approach to State-dependent Variable Impedance Control Talk abstract: Robots have widespread use in manufacturing where they operate in highly structured environments with minimal human-robot interaction. Recently, robots have been introduced to other industries (e.g.\ healthcare), requiring more dynamic tasks that cannot be fully characterized a priori. The impedance controller, as introduced by Neville Hogan, is a widespread technique enabling robots to interact with uncertain environments, within certain boundaries, by controlling the robot to act as an equivalent mechanical impedance or Mass-Spring-Damper. Nevertheless, stability of such systems highly depends on proper controller gains, which are difficult to tune for dynamic tasks (e.g.: polishing, locomotion, etc.) in unstructured environments that require adaptive trajectories and/or variable impedance gains. In particular, tasks where uncertain end-effector contact state may occur (e.g.: polishing, human robot collaboration, etc.) pose a challenge to the robots' controllers that rely on contact for ensuring system stability. Therefore, it is required to find control methodology that gives robots the capabilities of varying their controller gains w.r.t. aforementioned dynamic tasks whilst remaining passive, as passivity of the system ensures its stability both in free motion and when in contact. Mar 07 2019 12.45 - 14.00 IPAB Workshop - 07/03/2019 Keyhan Babarahmati G.03, IF
