Multi-Stage Energy-Aware Motion Control with Exteroception-Defined Dynamic Safety Metric
Kirill Artemov,Sergey Kolyubin,Stefano Stramigioli,Kirill Artemov,Sergey Kolyubin,Stefano Stramigioli
We address the problem of motion control for safe physical interaction, and in particular finding new ways for impedance controller parameters’ adaptation to ensure better safety with minimum possible lose in robot performance. We propose an exteroception-based dynamically updated safety metric that takes into account current robot state and inertia as well as external objects’ mass, shape, materi...
