FORcE Control AlgorithmS Testbench (FORECAST)

Starting date
March 22, 2019
Duration (months)
20
Departments
Computer Science, Department of Engineering for Innovation Medicine
Managers or local contacts
Calanca Andrea

Force control is nowadays a mature technology, widespread in modern robotics systems and commercialized within several application domains (e.g. industrial robots, collaborative robots, rehabilitation robotics). However, assessing the performance of a force-controlled system is not a trivial task as it may be strongly influenced by the environment dynamics. Exerting a force on a soft environment (which is characterized by a slow dynamics) is different from exerting a force on a rigid environment (which is characterized by a fast dynamics). Thus, the same force-controlled robot can have different force responses in different environments and a standardized and comprehensive method to assess the performance of a force-controlled system is still not available. The FORECAST project aims at filling this gap by proposing a benchmarking method able to define an objective score for a given force-controlled system accounting for its sensitivity to environment uncertainties and variations.

Sponsors:

UE - Unione Europea
Funds: assigned and managed by the department

Project participants

Andrea Calanca
Associate Professor
Research areas involved in the project
Sistemi ciberfisici
Embedded and cyber-physical systems

Activities

Research facilities

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