Variable Impedance Control in Cartesian Latent Space while Avoiding Obstacles in Null Space
David Parent,Adrià Colomé,Carme Torras,David Parent,Adrià Colomé,Carme Torras
Human-robot interaction is one of the keys of assistive robots. Robots are expected to be compliant with people but at the same time correctly perform the tasks. In such applications, Cartesian impedance control is preferred over joint control, as the desired interaction and environmental feedback can be described more naturally, and the force to be exerted by the robot can be readily adjusted.Thi...
