A Unified Fractal Impedance Control Framework
Overview
This paper introduces the robotic implementation and experimental validation of the Harmonic-Passive Motion Paradigm (H-PMP), an advanced architecture of the Fractal Impedance Controller (FIC) designed to mimic human-like interaction. The authors present a unified framework for FIC deployment supported by an open-source software suite integrating ROS2, MuJoCo, and physical hardware. Through three experiments on a Kinova Gen3 arm—including trajectory tracking, wall press with sudden contact loss, and learning-by-demonstration—the H-PMP is compared against earlier FIC architectures. Results show that H-PMP achieves a seamless trade-off between admittance and impedance behaviors, making it suitable for unstructured environments where robots can transition between interaction modes without computational overhead.
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- arXiv Robotics — research abstractsSignalA Unified Fractal Impedance Control Framework
This paper introduces the robotic implementation and experimental validation of the Harmonic-Passive Motion Paradigm (H-PMP), an advanced architecture of the Fractal Impedance Controller (FIC) designed to mimic human-like interaction. The authors present a unified framework for FIC deployment supported by an open-source software suite integrating ROS2, MuJoCo, and physical hardware. Through three experiments on a Kinova Gen3 arm—including trajectory tracking, wall press with sudden contact loss, and learning-by-demonstration—the H-PMP is compared against earlier FIC architectures. Results show that H-PMP achieves a seamless trade-off between admittance and impedance behaviors, making it suitable for unstructured environments where robots can transition between interaction modes without computational overhead.
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