물리적 인간-로봇 상호작용을 위한 수동적 제어기의 설계

Abstract

In this paper, we study the problem of control design for physical human–robot interactions. By exploring the general topology of the given control problem, we propose a generic control architecture (TDA) based on 2DOF Youla-based control. Compared to the inherent properties and tradeoffs of classical admittance control, the proposed TDA enhances nominal performance while guaranteeing coupled-stability conditions. The proposed control design method is demonstrated with numerical simulations and experiments.