Controlling the interaction force with the environment is critical for many robotics application, in particular when a human user interact with a robot. This project developped and evaluated controllers for high-precision control of the output force, for system using MR-hydrostatic actuators built in the lab. Multiple control scheme were developped, evaluated experimentally and compared.
Technical challenges: Actuator design, control scheme, impedance control.
UdeS Team: Jeff Denis (MS), Prof. Alexandre Girard and Prof. Jean-Sébastien Plante