Impedance control
- In French:
- Commande en impédance
Definition
A control mode that gives the robot the behaviour of a virtual damped spring: when pushed, it yields in proportion to the force, then returns to its setpoint. The relationship between force and motion is thus tuned, rather than either one alone. Formalised by Neville Hogan at MIT in the 1980s, this approach is common for contact tasks and physical interaction with people.
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