Impedance control benchmarking

• Grant number: 22/09306-4
• Support Opportunities: Scholarships abroad - Research Internship - Master's degree
• Start date: September 28, 2022
• End date: March 27, 2023
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Thiago Boaventura Cunha
• Grantee: Elisa Gamper Vergamini
• Supervisor: Paolo Fiorini
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
• Institution abroad: Università degli Studi di Verona, Italy
• Associated to the scholarship: 21/03373-9 - Comparison of hydraulic and electrical actuation systems for robotics, BP.MS

Abstract

The main objective of this exchange project is to extend the developed force/torque control benchmarking methodology to impedance controllers and to apply it to Series Elastic Actuators. This force control methodology is being tested in Brazil for electric and hydraulic linear actuators, and in Verona it will be extended to include rotational electric servomotors. The project will have access to a fully instrumented test bench developed for this purpose at the Altair Robotics Laboratory of the University of Verona. (AU)