Safe, Passive Control for Mechanical Systems with Application to Physical Human-Robot Interactions
Wenceslao Shaw Cortez Christos K. Verginis Dimos V. Dimarogonas Wenceslao Shaw Cortez Christos K. Verginis Dimos V. Dimarogonas
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a pre-defined region, but respect velocity constraints and ensure passivity with respect to external perturbations that may arise from a human or the environment. The propo...