Impedance Controller

Impedance control aims to regulate the interaction forces and motions of robots, enabling safe and adaptable manipulation in various environments. Current research focuses on developing robust impedance controllers that handle uncertainties in robot dynamics and payload characteristics, often employing model-free reinforcement learning, model predictive control, or novel feedback structures like inner-outer loops and artificial delay-based methods. These advancements are crucial for improving the safety and dexterity of robots in human-robot collaboration, prosthetics, and complex manipulation tasks, ultimately leading to more versatile and reliable robotic systems.