Design and experimentation of jump impact controller

A new impact/force controller known as jump impact controller (JIC) is designed and evaluated experimentally. JIC is derived by representing dynamics of collision in terms of a jump linear system where the jumps of system dynamics can be described by a state-dependent stochastic process. Thus, JIC provides robustness to the uncertainties in the environment dynamics as well as the location of the collision surface. The experimental results not only verify the robustness of JIC but also help explain and interpret how robustness is associated with the JIC theory in terms of such known concepts as approach velocity and control system bandwidth