Flexible-joint Impedance Control Based on Backstepping Method

In this paper, an impedance control method based on backstepping approach is proposed aiming at the problems of compliance control when the flexible joint contacts with the environment. The stability of the controller is proved based on Lyapunov stability theory. The controller design combines stability of a Lyapunov function and the desired dynamic of impedance model. The experiment results show the effectiveness and feasibility of the proposed control approach.