Hybrid Force-Impedance Control for Fast End-Effector Motions

This video presents a unified hybrid force-impedance framework for highly dynamic end-effector motions. The unified framework features compliant behavior in the free (motion) task directions and explicit force tracking in the constrained directions. Advantageously, the involved force subspace in contact direction is fully dynamically decoupled from dynamics in the motion subspace.
Further details can be found in the following paper: “Hybrid Force-Impedance Control for Fast End-Effector Motions”, Maged Iskandar, Christian Ott, Alin Albu-Schäffer, Bruno Siciliano, and Alexander Dietrich, IEEE Robotics and Automation Letters (RA-L), 2023. doi: 10.1109/LRA.2023.3270036.

Publication:
IEEE-RA-L: https://ieeexplore.ieee.org/document/...
Open-access: https://elib.dlr.de/194975/1/Iskandar...