Robust Impedance Control for Dexterous Interaction Using Fractal Impedance Controller with IK-Optimisation
Carlo Tiseo,Quentin Rouxel,Zhibin Li,Michael Mistry,Carlo Tiseo,Quentin Rouxel,Zhibin Li,Michael Mistry
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their generalisation is limited. This work proposed a hierarchical control architecture for robot manipulators and provided capabilities of reproducing human-like motions durin...
