Force Control with Dynamical Systems

This lecture covers learning and adaptive control for robots, focusing on compliant and force control using Dynamical Systems (DS). Topics include passivity analysis, stability through passivity analysis, control torques design, and impedance modulation. The lecture also discusses the application of DS in feedback configuration, passivity verification, and constraints on control torques for passivity. Additionally, it explores the use of DS for controlling forces on surfaces, with a detailed explanation of the dynamics equation of the robot and the feedback terms involved. The lecture concludes with examples of force-based control with DS and the extension to control a bimanual platform.