Lecture 10 - Force Control with Dynamical Systems

Abstract

In this lecture, we combine force control with the impedance-based DS introduced in the previous lecture to provide robust control of forces in unforeseen situations and in the face of disturbances. Previously, we introduced DS-based algorithms for providing compliant behavior in contact phases. This lecture presents control architectures that enhance the interactions by controlling the interaction forces while being compliant. We show how we can simultaneously control the force and the motion of a robotic system when moving on non planar surfaces.

Lecture Video

Slides

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Exercises Instructions

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Code for MATLAB Exercises

The recommended way to do the MATLAB exercises is to download the entire repository once, then go to each lecture's folder. Detailled instructions for installation can be found on the Software page.

Click here to download the corresponding exercise for this lecture as a zip file.
Note you will also need this libraries folder placed with the correct directory structure.

First Theoretical Exercise Solution

Click here to download a pdf of the solution of the first handwritten exercise.

Robotic Implementation