Research paper
Safe Human Robot-Interaction using Switched Model Reference Admittance Control
A switched reference model generates compliant motion while keeping the reference within a designated workspace. A common quadratic Lyapunov function supports the stability argument. Evaluation is a two-link manipulator simulation; physical contact limits and hardware validation remain separate tasks.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Safe Human Robot-Interaction using Switched Model Reference Admittance Control
- Publisher
- arXiv
- Authors
- Paul, Chayan Kumar, Dey, Bhabani Shankar, Banerjee, Udayan, Kar, Indra Narayan
- DOI
- 10.48550/arxiv.2211.14748
- First archive posting
- 2022-11-27
- Source language
- en
- Source country
- US
- Edition
- v1
- Access
- Open archive metadata and manuscript
- Publication status
- Preprint
Related resources and engineering notes
Source overview
A switched reference model generates compliant motion while keeping the reference within a designated workspace. A common quadratic Lyapunov function supports the stability argument. Evaluation is a two-link manipulator simulation; physical contact limits and hardware validation remain separate tasks.
Use and review
Original summary of the primary archive abstract and bibliographic record. Specialist technical and native-language review remain pending. The reported method does not establish a deployed safety function or achieved PL.
Sources & editions
Safe Human Robot-Interaction using Switched Model Reference Admittance Control ↗
arXiv · v1
arXiv abstract, authors, submission history and DOI links; first posting 2022-11-27, abstract reviewed in v1. Publisher dates are separate.