A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation

Song, Peng; Yu, Yueqing; Zhang, Xuping

doi:10.1017/s0263574718001339

Cited by 97 publications

(48 citation statements)

References 176 publications

(339 reference statements)

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“…According to the definition [13], the position-based impedance can be expressed as the ratio between the force source and the motion output measured at the point of action. When considering the task of expected force tracking, impedance control has the following form [34]…”

Section: A Improved Impedance Controller Structurementioning

confidence: 99%

Contact Force Estimation Method of Legged-Robot and Its Application in Impedance Control

Zhang

et al. 2020

IEEE Access

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Legged robots have extremely strong adaptability in different terrain environment and their stable walking in the wild is still a current research hotspot. Although they have shown great motion performance in recent years, most of them rely on high-performance sensors , especially force sensors settled on foot. However, it is impractical to select special forces sensors in the field environment, and the performance degradation and noise during the usage will bring fatal control defects. In order to solve this problem, we propose a foot contact force estimation method that does not require force sensors, and applies the estimated contact force to the impedance control of the legged robot to achieve the robot's active compliance control. The method of force estimation is based on the generalized momentum of the robot. It only needs to provide the position information of the joint and the information of the applied control torque. The designed feedforward and compensation terms effectively improve the speed and accuracy of the force estimation. We improved the response speed of the system to the contact force by improving the structure of the impedance control, and applied the estimated contact force to the impedance control to achieve the stable motion of the quadruped robot. Simulation experiments verify the effectiveness of the proposed force estimation method.

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Section: A Improved Impedance Controller Structurementioning

confidence: 99%

Contact Force Estimation Method of Legged-Robot and Its Application in Impedance Control

Zhang

et al. 2020

IEEE Access

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“…To make robotic joints present a "gloppy" or "springy" compliant control behavior similar to human joints, the concept of impedance control in the field of robots has been proposed by Hogan [13]. Impedance control is extensively employed in robotic control and its robustness and feasibility have been acknowledged by many research studies [14,15]. However, a fixed impedance model may not suffice in many applications, and variable impedance is necessary to achieve optimal performance of the system [16]; for example, human beings have the ability to adjust their joint impedance through muscle contraction.…”

Section: Introductionmentioning

confidence: 99%

Variable Impedance Control for Bipedal Robot Standing Balance Based on Artificial Muscle Activation Model

Yin

Xue

Yang

et al. 2021

Journal of Robotics

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The bipedal robot should be able to maintain standing balance even in the presence of disturbing forces. The control schemes of bipedal robot are conventionally developed based on system models or fixed torque-ankle states, which often lack robustness. In this paper, a variable impedance control based on artificial muscle activation is investigated for bipedal robotic standing balance to address this limitation. The robustness was improved by applying the artificial muscle activation model to adjust the impedance parameters. In particular, an ankle variable impedance model was used to obtain the antidisturbance torque which combined with the ankle dynamic torque to estimate the desired ankle torque for robotic standing balance. The simulation and prototype experimentation results demonstrate that the control method improves the robustness of bipedal robotic standing balance control.

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“…Another object-level impedance control is proposed for in-hand manipulation (Pfanne et al , 2020). An overview of the impedance control of robotic manipulation can be referred to by Song et al (2019).…”

Section: Introductionmentioning

confidence: 99%

Optimal grasp force for robotic grasping and in-hand manipulation with impedance control

Chen

2021

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Purpose The purpose of this paper is to achieve stable grasping and dexterous in-hand manipulation, the control of the multi-fingered robotic hand is a difficult problem as the hand has many degrees of freedom with various grasp configurations. Design/methodology/approach To achieve this goal, a novel object-level impedance control framework with optimized grasp force and grasp quality is proposed for multi-fingered robotic hand grasping and in-hand manipulation. The minimal grasp force optimization aims to achieve stable grasping satisfying friction cone constraint while keeping appropriate contact forces without damage to the object. With the optimized grasp quality function, optimal grasp quality can be obtained by dynamically sliding on the object from initial grasp configuration to final grasp configuration. By the proposed controller, the in-hand manipulation of the grasped object can be achieved with compliance to the environment force. The control performance of the closed-loop robotic system is guaranteed by appropriately choosing the design parameters as proved by a Lyapunove function. Findings Simulations are conducted to validate the efficiency and performance of the proposed controller with a three-fingered robotic hand. Originality/value This paper presents a method for robotic optimal grasping and in-hand manipulation with a compliant controller. It may inspire other related researchers and has great potential for practical usage in a widespread of robot applications.

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A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation

Cited by 97 publications

References 176 publications

Contact Force Estimation Method of Legged-Robot and Its Application in Impedance Control

Contact Force Estimation Method of Legged-Robot and Its Application in Impedance Control

Variable Impedance Control for Bipedal Robot Standing Balance Based on Artificial Muscle Activation Model

Optimal grasp force for robotic grasping and in-hand manipulation with impedance control

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