Event-based Hybrid Impedance and Admittance Control

摘要

This paper proposes an event-based hybrid impedance and admittance control method for robot manipulator, which improves the contact compliance between the robot and human operator. The novel method makes full use of the advantages of the classical impedance control and the classical admittance control by introducing a switching strategy. The simulation and experiment results on the Baxter robot show the effectiveness of our design.