Paul, Chayan Kumar (Indian Institute of Technology Delhi), Kar, Indra Narayan (Indian Institute of Technology,Delhi)

Switched Admittance Control for Safe and Compliant Human-Robot Interaction

Scheduled for presentation during the Regular Session "Human-Robot Interaction" (FrAT5), Friday, July 18, 2025, 11:40−12:00, Room 109

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on August 2, 2025

Abstract

This work presents a novel switched model reference admittance control framework by shaping the reference trajectory for safe and compliant human-robot collaboration. The proposed method adaptively switches admittance parameters based on task compliance and task-space safety limits. Stability analysis of the switched system is performed using a common quadratic Lyapunov function, which ensures asymptotic convergence of the tracking error. Simulations on a two-link manipulator and Kuka IIWA robot validate the approach, demonstrating its effectiveness in both safety and compliance.