Robust Passivity-Based Dynamical Systems for Compliant Motion Adaptation

Motivated by human compliant behaviors during interacting with unknown environments and how motions impedance to are adapted skilfully complete a task, this article develops motion planning scheme that is capable of generating trajectory online such tracking desired contacting forces under predefined task. First, an improved dynamical system (DS) designed generate adaptive scanning from the original DS in terms contact forces. Inspired passivity analysis for robot control system, robust term formulated guarantee stability considering balance between environmental robotic energy. Furthermore, we develop state-constrained controller based on barrier Lyapunov function track ensure safety patient. Finally, comparative simulations conducted validate general capability proposed framework. We also instantiate our methodology through use case liver ultrasound demonstrate stable dynamic force performance.