The theory of active observers was initially described by Cortesao et al. (2000). This paper introduces properties of the Kalman gains used in the active observer (AOB) design. An important result of the state-space design is demonstrated, which allows stiffness adaptation without changing the control structure. Experiments with a human-robot skill transfer system to perform the peg-in-hole compliant motion task are described, showing the importance of the AOB.
['Rui Cortesão', 'Ralf Koeppe', 'Urbano Nunes', 'Gerd Hirzinger']
Compliant motion control with stochastic active observers