Source Code

Force-based variable impedance learning

This code shows a 2D spring-damper system (MSD) simulation subject to an external forces to simulate a framework that integrates force sensing systems and variable impedance control to learn force-based variable stiffness skills. Such skills rely on an estimation of the stiffness that is computed from the human demonstrations, which is then used along with the sensed forces to encode a probabilistic model of the task.

Abu-Dakka, Fares J., Leonel Rozo, and Darwin G. Caldwell. "Force-based variable impedance learning for robotic manipulation." Robotics and Autonomous Systems 109 (2018): 156-167. https://doi.org/10.1016/j.robot.2018.07.008