HapFIC_An_Adaptive_Force_Position_Controller_for_Safe_Environment_Interaction_in_Articulated_Systems.pdf (1.1 MB)
HapFIC: an adaptive force/position controller for safe environment interaction in articulated systems
journal contribution
posted on 2023-06-10, 01:33 authored by Carlo TiseoCarlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati, Wouter Wolfslag, Ioannis Havoutis, Sethu Vijayakumar, Michael MistryHaptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to reproduce in robots, especially when dealing with complex interaction dynamics, distributed contacts, and contact switching. Current model-based controllers require accurate interaction modelling to account for contacts and stabilise the interaction. In this manuscript, we propose an adaptive force/position controller that exploits the fractal impedance controller's passivity and non-linearity to execute a finite search algorithm using the force feedback signal from the sensor at the end-effector. The method is computationally inexpensive, opening the possibility to deal with distributed contacts in the future. We evaluated the architecture in physics simulation and showed that the controller can robustly control the interaction with objects of different dynamics without violating the maximum allowable target forces or causing numerical instability even for very rigid objects. The proposed controller can also autonomously deal with contact switching and may find application in multiple fields such as legged locomotion, rehabilitation and assistive robotics.
History
Publication status
- Published
File Version
- Published version
Journal
IEEE Transactions on Neural Systems and Rehabilitation EngineeringISSN
1534-4320Publisher
Institute of Electrical and Electronics EngineersExternal DOI
Volume
29Page range
1432-1440Event location
United StatesDepartment affiliated with
- Engineering and Design Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2021-10-28First Open Access (FOA) Date
2021-10-28First Compliant Deposit (FCD) Date
2021-10-28Usage metrics
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