共有制御のための受動的可変インピーダンス
Passive Variable Impedance For Shared Control
共有制御で用いるインピーダンス制御の可変剛性と複数目標の重み付け仲裁を統一的枠組みで扱い、受動性違反を特定して受動化する手法を提案・検証した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
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5. 議論はある？
6. 次に読むべき論文は？
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著者: Maximilian Mühlbauer, Nepomuk Werner, Ribin Balachandran, Thomas Hulin, João Silvério, Freek Stulp, Alin Albu-Schäffer
分類: cs.RO
原文アブストラクト
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive guiding. When multiple target poses are tracked at the same time with varying importance, the corresponding output wrenches have to be arbitrated with weightings changing over time. In this work, we study the stabilization of both variable stiffness in impedance control as well as the arbitration of different controllers through a scaled addition of their output wrenches, reformulating both into a holistic framework. We identify passivity violations in the closed loop system and provide methods to passivate the system. The resulting approach can be used to stabilize standard impedance controllers, allowing for the development of novel and flexible shared control methods. We do not constrain the design of stiffness matrices or arbitration factors; both can be matrix-valued including off-diagonal elements and change arbitrarily over time. The proposed methods are furthermore validated in simulation as well as in real robot experiments on different systems, proving their effectiveness and showcasing different behaviors which can be utilized depending on the requirements of the shared control approach.
