Chapter 10 — Redundant Robots

Human inspired tele-impedance and minimum-effort controller for improved manipulation Performance‬

Humans incorporate and switch between learnt neuro-motor strategies while performing complex tasks. To this purpose, kinematic redundancy is exploited in order to achieve optimized performance. Inspired by the superior motor skills of humans, in this work, we investigate a combined free-motion and contact-efficient controller in a certain class of robotic manipulation. In this multiple-criteria controller, kinematic degrees of redundancy are adapted according to task-suitable dynamic costs. The proposed algorithm attributes high priority to a minimum-effort controller while performing point-to-point, free-space movements. Once the robot comes into contact with the environment, the tele-impedance, common mode stiffness (CMS)-configuration dependent stiffness (CDS) controller will replicate the human's estimated endpoint stiffness and measured equilibrium-position profiles in the slave robotic arm, in real-time.
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