Compliant Motion Adaptation with Dynamical System during Robot-Environment Interaction

Compliant control ability is essential for physical robot-environment interaction. This paper presents a novel framework for robots to achieve active compliant behaviour through Dynamical System (DS). In contrast to the existing research works that aim to improve the compliant performance by introducing an appropriate impedance model or force control scheme, in our framework, no prerequisite for predefined robot impedance parameters or environmental model is required. The proposed method can generate a continuous and adaptive trajectory in terms of the contacting force by designing a globally asymptotically stable DS to guarantee a safe interaction with unknown environment. The method is not only strictly derived from theoretical study, but also verified by extensive simulations and experiments on different shapes of contacting object and different types of DS model.