Robust Adaptive Backstepping Impedance Control of Robots in Unknown Environments
Research Center for Systems and Technologies (SYSTEC), ARISE, Faculty of Engineering, University of Porto, 4200-465 Porto, Portugal（系统与技术研究中心（SYSTEC），ARISE，工程学院，波尔图大学，葡萄牙4200-465波尔图）；Intelligent Autonomous Systems Lab, Department of Computer Science, TU Darmstadt, Germany（智能自主系统实验室，计算机科学系，达姆施塔特技术大学，德国）
Reza Nazmara, Alap Kshirsagar, Jan Peters, A. Pedro Aguiar
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and explicitly accounts for key sources of uncertainty, including external disturbances and unmodeled dynamics, while not requiring the robot's dynamic parameters in implementation. We propose a backstepping-based adaptive impedance control scheme for the inner loop to track the reference impedance model. To handle uncertainties, we employ a Taylor series-based estimator for system dynamics and an adaptive estimator for determining the upper bound of external forces. Stability analysis demonstrates the semi-global practical finite-time stability of the overall system. To demonstrate the effectiveness of the proposed method, a simulated mobile manipulator scenario and experimental evaluations on a real Franka Emika Panda robot were conducted. The proposed approach exhibits safer performance compared to PD control while ensuring trajectory tracking and force monitoring. Overall, the RABIC framework provides a solid basis for future research on adaptive and learning-based impedance control for coupled mobile and fixed serially linked manipulators.
Visuo-Tactile Exploration of Unknown Rigid 3D Curvatures by Vision-Augmented Unified Force-Impedance Control
Chair of Robotics and Systems Intelligence, MIRMI-Munich Institute of Robotics and Machine Intelligence, Technical University of Munich（慕尼黑工业大学机器人与系统智能教席，慕尼黑机器人与机器智能研究所）；Centre for Tactile Internet with Human-in-the-Loop (CeTI)（以人为中心的触觉互联网中心）
Impedance and Stability Targeted Adaptation for Aerial Manipulator with Unknown Coupling Dynamics
Robotics Research Center, International Institute of Information Technology Hyderabad (IIIT-H)（印度海得拉巴国际信息技术学院机器人研究中心）；The University of Manchester（曼彻斯特大学）；Southeast University（东南大学）
A Null Space Compliance Approach for Maintaining Safety and Tracking Performance in Human-Robot Interactions
Department of Electrical and Computer Engineering, Western University（电气与计算机工程系，西方大学）；School of Artificial Intelligence and Automation, Huazhong University of Science and Technology（人工智能与自动化学院，华中科技大学）
Hybrid Adaptive Control for Series Elastic Actuator of Humanoid Robot
National Key Laboratory of Digital Control and System Engineering, Ho Chi Minh City University of Technology, VNU-HCM（越南国立大学胡志明市理工大学数字控制与系统工程国家重点实验室）；Ho Chi Minh City University of Technology, VNU-HCM（越南国立大学胡志明市理工大学）；Saigon University（西贡大学）；Pukyong National University（釜庆大学）
