Impedance Control: Planning or Learning? by Antonio Bicchi

Speaker - Antonio Bicchi

Abstract - Humans are able to modulate their mechanical impedance depending on the task they are performing. This capability has been transferred also to robotic systems, either via software or using hardware solutions. Impedance modulation in robotics found fertile application to solve multiple problems ranging from manipulation to rehabilitation, from locomotion to prosthetics. In this talk, I will first review how humans exploit their capabilities in changing and adapting their limb impedance. Then, I will discuss different solutions to mirror this behavior in machines. Finally, I will present and results in planning, controlling and learning robot impedance to solve a variety of practical issues.

https://sites.google.com/view/impedan...