# Admittance Control Parameter Adaptation for Physical Human-Robot Interaction

## TL;DR

This paper proposes a method to adapt admittance control parameters in human-robot interaction, ensuring stability and responsiveness by detecting deviations and maintaining passivity, validated on a KUKA robot.

## Contribution

It introduces a novel strategy for real-time parameter adaptation in admittance control that guarantees passivity and stability during physical human-robot interaction.

## Key findings

- Effective detection of deviations from nominal behavior.
- Successful parameter adaptation maintaining passivity.
- Validated approach on a KUKA LWR 4+ robot.

## Abstract

In physical human-robot interaction, the coexistence of robots and humans in the same workspace requires the guarantee of a stable interaction, trying to minimize the effort for the operator. To this aim, the admittance control is widely used and the appropriate selection of the its parameters is crucial, since they affect both the stability and the ability of the robot to interact with the user. In this paper, we present a strategy for detecting deviations from the nominal behavior of an admittance-controlled robot and for adapting the parameters of the controller while guaranteeing the passivity. The proposed methodology is validated on a KUKA LWR 4+.