Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators
<|reference_start|>Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators: Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe configurations upon physical perturbations. In this paper, we propose a novel control architecture that allows a torque-controlled robot to guarantee safety constraints such as kinematic limits, self-collisions, external collisions and singularities and is passive only when feasible. This is achieved by constraining a dynamical system based impedance control law with a relaxed hierarchical control barrier function quadratic program subject to multiple concurrent, possibly contradicting, constraints. Joint space constraints are formulated from efficient data-driven self- and external C^2 collision boundary functions. We theoretically prove constraint satisfaction and show that the robot is passive when feasible. Our approach is validated in simulation and real robot experiments on a 7DoF Franka Research 3 manipulator.<|reference_end|>
@article{zhang2024constrained,
    title={Constrained Passive Interaction Control: Leveraging Passivity and Safety
  for Robot Manipulators},
    author={Zhiquan Zhang, Tianyu Li, Nadia Figueroa},
    journal={arXiv preprint arXiv:2403.09853},
    year={2024},
    archivePrefix={arXiv},
    eprint={2403.09853},
    primaryClass={cs.RO}
}