This Research Initiation Award is for a study of stability problems in Cartesian compliance control of robotic manipulators. Dr. Chung will extend his successful technique for hexapod leg control to the domain of more general compliant manipulators. The technique involves Jacobian analysis of force errors in joint space to determine situations requiring torque feedback contradictory to an overall force goal. A more general technique of stabilization using passive compliance will also be studied.
