Robust and Dexterous Dual-arm Tele-Cooperation using Adaptable Impedance Control

Understand

In recent years, the need for robots to transition from isolated industrial tasks to shared environments, including human-robot collaboration and teleoperation, has become increasingly evident.

• Building on the foundation of Fractal Impedance Control (FIC) introduced in our previous work, this paper presents a novel extension to dual-arm tele-cooperation, leveraging the non-linear stiffness and passivity of FIC to adapt to diverse cooperative scenarios.
• Unlike traditional impedance controllers, our approach ensures stability without relying on energy tanks, as demonstrated in our prior research.
• In this paper, we further extend the FIC framework to bimanual operations, allowing for stable and smooth switching between different dynamic tasks without gain tuning.