Stability and passivity benchmarking for impedance control

• Grant number: 22/09357-8
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: August 01, 2022
• End date: July 31, 2023
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Thiago Boaventura Cunha
• Grantee: Letícia Ivaoka Shimizu
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
• Associated research grant: 18/15472-9 - Hydraulic actuation impedance control for robots with legs and arms, AP.JP

Abstract

One of the methods to analyze the passivity of impedance controllers is the Z-width. In this scientific initiation project, the student will try to determine the Z-width in simulation and in an experimental bench (IC2D) for several force and impedance controllers.(AU)