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Impedance controllers benchmark

Grant number: 21/09244-6
Support type:Scholarships in Brazil - Doctorate (Direct)
Effective date (Start): October 01, 2021
Effective date (End): January 31, 2025
Field of knowledge:Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
Principal researcher:Thiago Boaventura Cunha
Grantee:Leonardo Felipe Lima Santos dos Santos
Home Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
Associated research grant:18/15472-9 - Hydraulic actuation impedance control for robots with legs and arms, AP.JP

Abstract

There is a broad range of robotic control systems and select the proper method can be difficult according to the application. In order to face such problem, this doctorate project going to explore the state of the art on impedance control among different actuation systems and propose a new impedance control algorithm with enhanced performance and stability properties. This new control method will be analysed on manipulation and locomotion tasks, mainly at physical impact secnarios. The algorithm validation will be also executed with the laboratory robots. (AU)

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