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Author

Takahiro Wada

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Preprint Aug 2026

Robust Semi-passive Velocity Field Control with Boundedness Guarantees for Safe Interaction between Mechanical Systems and Physical Environment

Controllers that guarantee energetic passivity with respect to the pair of external force and velocity realize safe interaction between the mechanical system and its physical environment. However, solely adhering to energetic passivity constraints may impose fundamental limitations on control performance and, in some c...

Van Trong Dang, Sumitaka Honji, Takahiro Wada · 0 citations
Conference Jul 2026

Adaptive Energy-Based Robot Control for Physical Human-Robot Interaction: A Less Conservative Approach

Passivity-based control theory has emerged as a promising framework for physical human-robot interaction by explicitly enforcing the energetically passive relation. However, maintaining passivity at all times may overly limit the task execution capability of the robot, potentially increasing human physical workload. Fu...

Van Trong Dang, Hiroki Kotake, Sumitaka Honji et al. · 0 citations

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