Hysteresis-based robust switch for hybrid impedance-force control

Following the current industry evolution, humans are more
than ever interacting with intelligent machines. In such sce-
narios, robot motion control should be compliant with its
environment, which is often achieved through impedance
control . However, when moving in a contact-rich en-
vironment, direct force control methods are better suited to
monitor explicit contact behavior. Hybrid impedance–force
control is therefore a promising approach to achieve com-
pliant control for tasks requiring a combination of motion
and contact behaviors . In-contact tasks are well-known
examples requiring those two types of behaviors . In this
work, we propose to use hysteresis as the switching mecha-
nism between the two control modes to achieve robust task
transitioning.