Experimental robotic manipulator surface touchdown analysis and results

A key problem for robotics tasks involving contact with a surface is the initial touchdown or impact stage. This paper experimentally evaluates a touchdown algorithm designed to allow the successful transition between free-space motion and post-contact force control. Experimental analysis of the basic touchdown provides insight into the proposed solution. A "bandwidth boost" is applied to the force controller after impact and combined with a "force boost" in the force reference command. The results show that the new touchdown method can increase the speed at which a manipulator can maintain contact with the surface after initial touchdown.