FURI | Fall 2021

Curved Implementation in a Variable Impedance Controller for a Robotic Ankle Joint

The research conducted in this project seeks to expand the applicability of a recently introduced and experimentally verified variable impedance controller which dynamically modulates both damping and stiffness to inject or dissipate energy and apply stiffness on an estimated trajectory. Previous work implemented the stiffness application along an estimated linear trajectory using an algebraic sum of cartesian user intent. Current work is focused on developing a technique to estimate a curved trajectory and accompanying tangential user intent.