2017
Adjustable interaction control using genetic algorithm for enhanced coupled dynamics in tool-part contact
Gustavo J. G. Lahr, Henrique B. Garcia, Jose O. Savazzi, Caio B. Moretti, Rafael V. Aroca, Leonardo M. Pedro +2
IROS 2017poster
Impedance control is commonly implemented for robotic contact applications. Its performance is a function of the dynamic coupling between the environment and the robot's impedance controller: inertia, stiffness and damping. An interaction task may be considered successfully accomplished when the ele…