Passivity-Guaranteed Variable Impedance and Compliance Control via Online Parameter Optimization
Passivity-Guaranteed Variable Impedance and Compliance Control via Online Parameter Optimization
This research introduces a quadratic programming framework for variable impedance control that ensures passivity by modulating desired inertia to counteract energy injection from stiffness variations. The method optimizes inertia and stiffness change rates under convex constraints, extends to compliance control using Cholesky-based spectral weight optimization, and is validated on a Kinova Gen3 7-DOF manipulator with human interaction perturbations. Results show less conservative stiffness tracking compared to energy tank or nonpassivity-based approaches without requiring damping overhead.
The authors present a quadratic programming-based control framework that guarantees passivity during online impedance parameter optimization on a Kinova Gen3 manipulator, demonstrating improved stiffness tracking without energy reservoirs or excessive damping.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Source：arXiv Robotics — research abstracts · arxiv.org