Compliant Motion Adaptation with Dynamical System during Robot-Environment Interaction

Robust Passivity-Based Dynamical Systems for Compliant Motion Adaptation

“…Compared with previous work [27], another significant progress is that the proposed method can also valid for the attractor point of adaptive DS, whose location is in the region of object as shown in Fig. 5(a), which relaxes the strict assumption in [30] such that expanding the application in robot-environment interaction. Furthermore, the total energy of passive DS is investigated in Fig.…”

“…In this framework, the adaptive potential factor Λ P is developed in terms of passivity observer (PO) whose theoretical foundation will be discussed hereinafter. In [30], the parameters of modulation item Ξ f are obtained through trial and error, which limits the fidelity of the motion planner. To proceed, this article brings forward a solution by simplifying the modulation to a robust item, which is designed as…”

“…Although the previous work [30] has capability to generate a compliant interaction trajectory at the motion planning level, such scheme is insufficient for tackling the problem of dynamical force contacting task. For this reason, the adaptation is adopted to the compliant motion planning, as well as remaining the stability of system during dynamical force interaction under the criterion of PO.…”

“…Ξ P denotes the initial potential factor, which was designed in our previous work [30], scaling the effect of contacting between end-effect and environment in terms of force feedback, and it can be written as…”