TY - JOUR
T1 - Editorial Variable Impedance Control and Learning in Complex Interaction Scenarios
T2 - Challenges and Opportunities
AU - Abu-Dakka, Fares J.
AU - Saveriano, Matteo
AU - Huber, Meghan E.
AU - Boaventura, Thiago
PY - 2022/10/1
Y1 - 2022/10/1
N2 - The papers in this special section focus on variable impedance control and learning in complex interaction applications. Increasingly, robots are expected to enter various application scenarios and interact with unknown and dynamically changing environments. More specifically, we are expecting robots to be out from their caged industrial workspace and operate among us in our dynamic and uncertain environments. To have robots safely and robustly interacting with their surroundings and cooperating with people, they must present some degree of mechanical compliance. While such compliance can be achieved passively, using elastic and flexible elements in the robot’s mechanical design, control algorithms are able to shape the robot’s mechanical compliance (e.g., stiffness, damping, and inertia) in a much more versatile manner. A well-known approach to control physical interaction is via impedance control, where it is possible to control the robot’s mechanical impedance (i.e., the dynamic relation between force and velocity) at a given interaction point.
AB - The papers in this special section focus on variable impedance control and learning in complex interaction applications. Increasingly, robots are expected to enter various application scenarios and interact with unknown and dynamically changing environments. More specifically, we are expecting robots to be out from their caged industrial workspace and operate among us in our dynamic and uncertain environments. To have robots safely and robustly interacting with their surroundings and cooperating with people, they must present some degree of mechanical compliance. While such compliance can be achieved passively, using elastic and flexible elements in the robot’s mechanical design, control algorithms are able to shape the robot’s mechanical compliance (e.g., stiffness, damping, and inertia) in a much more versatile manner. A well-known approach to control physical interaction is via impedance control, where it is possible to control the robot’s mechanical impedance (i.e., the dynamic relation between force and velocity) at a given interaction point.
UR - http://www.scopus.com/inward/record.url?scp=85141341959&partnerID=8YFLogxK
U2 - 10.1109/LRA.2022.3213197
DO - 10.1109/LRA.2022.3213197
M3 - Editorial
AN - SCOPUS:85141341959
SN - 2377-3766
VL - 7
SP - 12158
EP - 12160
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 4
ER -