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Hybrid Impedance/Admittance control for HRC
In collaborative robotics two main control schemes stand at the center of research, as they allow to render comliant robot behaviour when subject to external forces: Impedance and admittance control. They can be seen as complementary methods (the robot being modelled as a mechanical impedance or admittance respectively while the environment is the inverse). However, they have very distince interaction and stability properties. While admittance control generally allows for better performance when the environment has a low stiffness (e.g. free-floating motion), Impedance control is better suited to environments with high stiffness, as the former exhibits stabilty issues in this case, while the latter lacks precision when an imperfect model of the robot dynamics is used. Some Authors have thus already proposed hybrid schemes, whereby a continuous change from impedance to admittance control can be commanded at runtime.
We explore the capabilities of human-robot collaboration.
We explore the capabilities of human-robot collaboration.
Your task is to evaluate the literature and implement such a hybrid scheme for the use-case of human-robot collaboration in shared and unstructured environments. Depending on the scope of the Thesis this can be expanded to include optimal switching and variable impedances/admittances as well as a comparative case study with our old controller and setup.
Your task is to evaluate the literature and implement such a hybrid scheme for the use-case of human-robot collaboration in shared and unstructured environments. Depending on the scope of the Thesis this can be expanded to include optimal switching and variable impedances/admittances as well as a comparative case study with our old controller and setup.
• Some prior experience with C++ • Some knowledge of Robot Dynamics and Kinematics • Solid grasp of control theory • Bonus: Experience with ROS2
Not specified
Not specified
send your cv and transcript to gimenol@ethz.ch (Lucas Gimeno)
send your cv and transcript to gimenol@ethz.ch (Lucas Gimeno)
