Kavli Affiliate: Xiang Zhang | First 5 Authors: Changhao Wang, Zhian Kuang, Xiang Zhang, Masayoshi Tomizuka, | Summary: Smooth behaviors are preferable for many contact-rich manipulation tasks. Impedance control arises as an effective way to regulate robot movements by mimicking a mass-spring-damping system. Consequently, the robot behavior can be determined by the impedance gains. However, […]
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