Compliance Control With Embedded Neural Elements

Many robotic systems would, in the future, be required to operate in environments that are highly uncertain and possessing means of self-actuation. In this paper, the problem of identifying uncertain environments for stable contact control is considered. In particular, system parameters are identified under the assumption that environment dynamics have a fixed nonlinear structure. A robotics research arm, placed in contact with a single dof electromechanical environment dynamics emulator, is commanded to move through a desired trajectory. The command is implemented using a compliant control strategy.