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Safety-Aware Hierarchical Passivity-Based Variable Compliance Control for Redundant Manipulators

Youssef, Michel and Ott, Christian and Lee, Dongheui (2022) Safety-Aware Hierarchical Passivity-Based Variable Compliance Control for Redundant Manipulators. IEEE Transactions on Robotics, 38 (6), pp. 3899-3916. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2022.3174478. ISSN 1552-3098.

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Official URL: https://ieeexplore.ieee.org/document/9781629


This article presents a hierarchical passivity-based compliance controller that exploits robot redundancy and aims at achieving an impedance behavior with a time-varying stiffness on all the priority levels. Unfortunately, this gives rise to certain control actions that lead to the loss of the safety-critical passivity feature. To deal with this problem, we employ the concept of virtual energy tanks that keep track of the passivity violating energy in the system, ensuring that it remains bounded. This restores the passivity in the system, which guarantees the stable interaction with any passive environment. Furthermore, we augment our controller with an additional safety layer, which ensures that the energy injected through the tank into the system remains below a safe limit, defined based on the maximum kinetic energy allowed in the system. Finally, our approach is validated in terms of performance during task execution and safety both in simulations and on real-robot hardware.

Item URL in elib:https://elib.dlr.de/192892/
Document Type:Article
Title:Safety-Aware Hierarchical Passivity-Based Variable Compliance Control for Redundant Manipulators
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Youssef, MichelTechnical University of MunichUNSPECIFIEDUNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Lee, DongheuiUNSPECIFIEDhttps://orcid.org/0000-0003-1897-7664UNSPECIFIED
Date:25 May 2022
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 3899-3916
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Compliance and impedance control, passivity-based control, redundant robots, robot safety
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:23 Dec 2022 11:17
Last Modified:29 Jun 2023 07:22

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