Passivity Filter for Variable Impedance Control
Maciej Bednarczyk,Hassan Omran,Bernard Bayle,Maciej Bednarczyk,Hassan Omran,Bernard Bayle
While impedance control is one of the most commonly used strategies for robot interaction control, variable impedance control is a more recent preoccupation. If designing impedance control with varying parameters allows increasing the system flexibility and dexterity, it is still a challenging issue, as it may result in a loss of passivity of the control system. This has an important impact on the...
