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panda_impedance_control

fida-121 / panda_impedance_control

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Cartesian impedance control of the Franka Emika Panda robot with kinesthetic teaching, waypoint replay, and genetic algorithm parameter optimisation. Built on libfranka with ROS2/MoveIt2 for IK.

robotics genetic-algorithm robot-arm human-robot-interaction cartesian-controller ros2 mechatronics motion-control impedance-control libfranka franka-emika parameter-optimization panda-robot kinesthetic-teaching compliant-manipulation
  • Updated Jun 15, 2026
  • C++

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