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IP 287513
call FP7-ICT-2011-7
SAPHARI is funded under the European Community's 7th Framework Programme

WP3 Control

This work package deals with the use of multiple (exteroceptive and proprioceptive) sensing information in real-time control strategies that ensure collision avoidance, detection and fast reaction to unanticipated collisions, as well as a safe continuous physical interaction with the human and the robot in intentional contact. In addition, an important part of the work is devoted to the design and analysis of motion/impedance/force control laws for compliant manipulators based on Variable Impedance Actuation (VIA).
Institute of Robotics and Mechatronics (DLR)