pHRI Stabilization on Scenario B (Stance + 1 Hz Shocks, Sustained 8 N pHRI)
1.81RMS Error (mm)Proposed full
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Proposed fullController Label=D7, Architecture=WBC + Impedance MPC + Kalman, Covariance inflation (alpha)=42026.06 | 1.81 | 4.15 | |
| Proposed (no inflation)Controller Label=D6, Architecture=WBC + Impedance MPC + Kalman, Covariance inflation (alpha)=12026.06 | 1.84 | 4.32 | |
| SK05 PIController Label=D2, Ki=150 N/(m·s), Anti-windup=true2026.06 | 5.91 | 10.17 | |
| Proposed (no Kalman)Controller Label=D5, Architecture=WBC + Impedance MPC, Kalman Filter=false2026.06 | 9.02 | 12.68 | |
| SK05 PDController Label=D1, Kp=800 N/m, Kd=40 Ns/m2026.06 | 10.94 | 15.77 | |
| WBC hierarchy + PDController Label=D4, Null space=Correct, Prediction=false2026.06 | 10.94 | 15.77 | |
| Fixed-base impedance MPCController Label=D3, Inertia Matrix=M^-12026.06 | 13.2 | 17.22 |