A Passivity-based Approach for Variable Stiffness Control with Dynamical Systems

• DOI: 10.48550/arxiv.2307.09571
• Publication Date: 2023-01-01
• Authors: Youssef Michel; Matteo Saveriano; Dongheui Lee
• Keywords: Passivity

In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity safety. particular, propose approach enables follow the plan of first order Dynamical System (DS) variable stiffness profile, closed loop configuration where is always aware current robot state. This allows desired path an interactive behavior dictated by stiffness. We also two solutions enable velocity manner similar trajectory tracking controllers, while maintaining closed-loop configuration. Additionally, exploit concept energy tanks guarantee passivity during interactions environment, as well asymptotic stability free motion, our system. The developed evaluated extensively simulation, real experiments, terms performance safety both execution physical interaction tasks.