Dynamical Systems Based Compliance Control Approach Without Direct Force Information

Modern robots must be equipped with compliant interaction strategies to undertake complex human-robot interaction tasks. This paper develops a comprehensive control system blending the dynamical systems approach and the force estimation method. The proposed method allows for the switching between two different compliance control strategies according to task requirements. It can regenerate a compliant dynamical system (DS) motion based on the estimated force, ensuring compliance control along the original set trajectory at the motion level. Unlike existing works that rely on force sensors or additional impedance information, the proposed method achieves ideal compliant behavior with minimal information. Simulation experiment results demonstrate the applicability and stability of the proposed method.