Courses / control

CS-4 Interaction & Compliance Control

advanced~12 hours12 lessons

Prerequisites: cs2-state-space-optimal-control

Start: Contact breaks position controlPractice questions

Modules

Module 1 — Force control
  1. 1Contact breaks position control
  2. 2Hybrid position/force: split the world by its constraints
  3. 3The contact transition: arriving without the spike
Module 2 — Impedance & admittance
  1. 1Impedance control: command a relationship, not a variable
  2. 2The stiffness dial, and why passivity is the safety theorem
  3. 3Admittance: the mirror twin, its superpower, and its cliff
Module 3 — Elastic actuation (SEA, transparency mode)
  1. 1The series elastic actuator: a spring installed on purpose
  2. 2Transparency: engineering the feeling of nothing
  3. 3Assistance: injecting torque into a human rhythm
Module 4 — pHRI safety (ISO 13482 / IEC 80601-2-78)
  1. 1Gravity compensation: the free lunch, and its poison dose
  2. 2Limits as constraints: the envelope that holds under fault
  3. 3The monitor, the trip, and the safe state

Textbooks

  • Robotics: Modelling, Planning and Control — Siciliano, Sciavicco, Villani & Oriolobook
    Force/impedance control chapters