Abstract
Robot compliant control aims at building controllers that react softly when a contact or deviation occurs. Contrary to a stiff control, where a robot will track the desired position commands and try to quickly compensate any deviation from such reference position, a compliant controller will allow deviations from such reference position. Such deviations are slightly compensated to try to reach the desired command, but usually with a significantly smaller gain that allows external agents to safely interact with robots without fear of accidents due to backlash movements, as well as limiting the strength with which objects are manipulated. This chapter introduces methods to firstly detect contacts that may occur during motion, based on robot dynamic models. Then, such dynamic models are refined and applied to different robotic manipulation tasks.
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Colomé, A., Torras, C. (2020). Robot Compliant Control. In: Reinforcement Learning of Bimanual Robot Skills. Springer Tracts in Advanced Robotics, vol 134. Springer, Cham. https://doi.org/10.1007/978-3-030-26326-3_4
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DOI: https://doi.org/10.1007/978-3-030-26326-3_4
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