hybrid compliant control
A robot control method derived from impedance/admittance control ideas, in which force control and compliant position control are applied along different directions so that the robot behaves like a spring-damper system and yields to external forces.
Timeline (last 90 days)
FLORE's execution layer employs a hybrid compliant controller with force tracking, using the integral of force error measured by real F/T sensors so that each hand precisely tracks force along the commanded direction while remaining compliant in other directions.
Hybrid compliant control originates from the classic impedance/admittance control idea, applying force control and compliant position control in different directions respectively, i.e., direction-selective compliance.
All Facts (2)
FLORE's execution layer employs a hybrid compliant controller with force tracking, using the integral of force error measured by real F/T sensors so that each hand precisely tracks force along the commanded direction while remaining compliant in other directions.
50%UnverifiedHybrid compliant control originates from the classic impedance/admittance control idea, applying force control and compliant position control in different directions respectively, i.e., direction-selective compliance.
50%