The control algorithm enabling natural physical interaction with humanoid robot arm having joint flexibility

The paper is concentrated on control of humanoid robot arm intended for operation in unstructured human being-environment. A variable impedance control strategy was elaborated to increase the robot functionality and to achieve human-like dynamics of interaction. The detailed design procedure of the lead controller enabling improvement of transient response is presented. The experimental results show that proposed approach not only provides safe interaction of robot arm with a person, but also improves the effectiveness of contact task performance.