Constrained Passive Interaction Control: Leveraging Passivity and Safety for Robot Manipulators

Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe configurations upon physical perturbations. In this paper, we propose a novel control architecture that allows a torque-controlled robot to guarantee safety constraints such as kinematic limits, self-collisions, external collisions and singularities and is passive only when feasible. This is achieved by constraining a dynamical system based impedance control law with a relaxed hierarchical control barrier function quadratic program subject to multiple concurrent, possibly contradicting, constraints. Joint space constraints are formulated from efficient data-driven self- and external ${\mathcal{C}^2}$ collision boundary functions. We theoretically prove constraint satisfaction and show that the robot is passive when feasible. Our approach is validated in simulation and real robot experiments on a 7DoF Franka Research 3 manipulator.