ICRA 2011 Paper Abstract


Paper ThP207.1

Li, Yanan (National University of Singapore), Ge, Shuzhi Sam (National University of Singapore), YANG, Chenguang (University of Plymouth), Li, Xinyang (National University of Singapore), Tee, Keng Peng (Institute for Infocomm Research)

Model-Free Impedance Control for Safe Human-Robot Interaction

Scheduled for presentation during the Regular Sessions "Variable Stiffness and Impedance Control II" (ThP207), Thursday, May 12, 2011, 15:25−15:40, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Compliance and Impedance Control, Physical Human-Robot Interaction


In this paper, model-free impedance control is designed for the safe human-robot interaction. A passive impedance model is imposed on the robot and a control method is proposed to guarantee the robot dynamics governed by the target model. The proposed method does not require any model information except for upper bounds of system matrix. It is thus easy to apply to practical implementation. The rigorous analysis of the control performance and robustness is presented. The validity of the proposed method is verified on the six degrees-of-freedom (DOF) PUMA 560 robot arm through simulation.



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