Passivity-Guaranteed Variable Impedance and Compliance Control via Online Parameter Optimization
Overview
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.
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- arXiv Robotics — research abstractsSignalPassivity-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.
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