Evaluating the performance of robotic compliant tasks according to power consumption: approach and applications

This paper proposes an approach to the quantitative evaluation of the performance of robotic compliant motion tasks based on the power consumed by interaction between parts. As an application of the technique, a method for tuning the compliant motion parameters is discussed. It employs the response surface method as a schema for experimental design, because of the method's similarity to the process whereby humans tune parameters. Finally, to confirm the effectiveness of the tuning method, it is applied to a socket attachment task.