Impedance Control ·
F = M ẍ + B ẋ + K Δx
un
seel
.com · Hogan 1985 · virtual mass-damper-spring at the end-effector
K_d
200 N/m
Mode
Hold
Beat
a robot that feels like a spring
Robot link
Virtual element
Contact / force
Target / success
Play
Pause
Unmute
Reset
Un
seel
.com · Impedance Control