TeleImpedance: Exploring the role of common-mode and configuration-dependant stiffness
TeleImpedance: Exploring the role of common-mode and configuration-dependant stiffness
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DOI：
10.1109/humanoids.2012.6651545
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发表时间：
2012-11
期刊：
影响因子：
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通讯作者：
A. Ajoudani;M. Gabiccini;N. Tsagarakis;A. Albu-Schäffer;A. Bicchi
中科院分区：
文献类型：
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作者：
A. Ajoudani;M. Gabiccini;N. Tsagarakis;A. Albu-Schäffer;A. Bicchi
人类探索并调整神经运动策略来应对多关节阻抗调节机制的局限性。例如，除了协同收缩之外，冗余程度的预测控制还进一步调节端点阻抗。受这些观察的启发，本文提出了一种新颖的远程阻抗算法，通过控制共模和配置相关的刚度来复制机器人中人类手臂端点的刚度。在机器人孔洞任务中解决了控制器的设计及其稳定性并进行了实验评估。将所提出方法的结果与使用经典笛卡尔刚度控制实现的远程阻抗所获得的结果进行比较。所实现的交互性能凸显了在具有足够冗余度的机器人中采用共模刚度的可能性，以实现所需的任务空间阻抗。
Humans explore and adapt neuro-motor strategies to cope with limitations of multi-joint impedance regulation mechanism. For instance, predictive control of degrees of redundancy further regulates the endpoint impedance in addition to co-contractions. Inspired by these observations, this paper proposes a novel Tele-Impedance algorithm that replicates the human's arm endpoint stiffness in robot by controlling the common-mode and configuration-dependant stiffness. Design of the controller and its stability is addressed and experimentally evaluated in robotic peg-in-hole task. Results of the proposed method are compared to the ones derived from Tele-Impedance implemented using classical Cartesian stiffness control. The interaction performance achieved highlights the possibility of adopting common mode stiffness in robots with adequate degrees of redundancy, in order to realize the desired task space impedance.