Quadruped Robot Control: An Approach Using Body Planar Motion Control, Legs Impedance Control and Bézier Curves [PDF]
SensorsIn robotics, the ability of quadruped robots to perform tasks in industrial, mining, and disaster environments has already been demonstrated. To ensure the safe execution of tasks by the robot, meticulous planning of its foot placements and precise leg ...
Gabriel Duarte Gonçalves Pedro +8 more
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Variable-Parameter Impedance Control of Manipulator Based on RBFNN and Gradient Descent [PDF]
SensorsDuring the interaction process of a manipulator executing a grasping task, to ensure no damage to the object, accurate force and position control of the manipulator’s end-effector must be concurrently implemented. To address the computationally intensive
Linshen Li +3 more
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Impedance Control for Robotic Rehabilitation: A Robust Markovian Approach [PDF]
Frontiers in Neurorobotics, 2017 The human-robot interaction has played an important role in rehabilitation robotics and impedance control has been used in the regulation of interaction forces between the robot actuator and human limbs.
Andres L. Jutinico +6 more
doaj +2 more sources
Discrete-Time Impedance Control for Dynamic Response Regulation of Parallel Soft Robots [PDF]
BiomimeticsAccurately controlling the dynamic response and suppression of undesirable dynamics such as overshoots and vibrations is a vital requirement for soft robots operating in industrial environments.
Ameer Hamza Khan, Shuai Li
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Learning Variable Impedance Control via Inverse Reinforcement Learning for Force-Related Tasks [PDF]
IEEE Robotics and Automation Letters, 2021 Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different task phases and environment constraints is crucial for safety and performance.
Xiang Zhang +3 more
semanticscholar +1 more source
Neural Control of Stopping and Stabilizing the Arm
Frontiers in Integrative Neuroscience, 2022 Stopping is a crucial yet under-studied action for planning and producing meaningful and efficient movements. In this review, we discuss classical human psychophysics studies as well as those using engineered systems that aim to develop models of motor ...
Shanie A. L. Jayasinghe +4 more
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Hybrid Force-Impedance Control for Fast End-Effector Motions
IEEE Robotics and Automation Letters, 2023 Controlling the contact force on various surfaces is essential in many robotic applications such as in service tasks or industrial use cases. Mostly, classical impedance and hybrid motion-force control approaches are employed for these kinds of physical ...
Maged Iskandar +4 more
semanticscholar +1 more source
Geometric Impedance Control on SE(3) for Robotic Manipulators [PDF]
IFAC-PapersOnLine, 2022 After its introduction, impedance control has been utilized as a primary control scheme for robotic manipulation tasks that involve interaction with unknown environments. While impedance control has been extensively studied, the geometric structure of SE(
Joohwan Seo +3 more
semanticscholar +1 more source
Adaptive grinding method and experimental verification of worm gear tooth surface knife marks
Journal of Advanced Mechanical Design, Systems, and Manufacturing, 2023 Aiming at the problem that the basic impedance control has great impact force and is difficult to cope with environmental changes when it contacts with the tooth surface of worm gear, an adaptive impedance control method based on genetic algorithm was ...
Jie YANG +4 more
doaj +1 more source
Power quality enhancement in islanded microgrids via closed-loop adaptive virtual impedance control
Protection and Control of Modern Power Systems, 2023 The high proportion of nonlinear and unbalanced loads results in power quality issues in islanded microgrids. This paper presents a novel control strategy for harmonic and unbalanced power allocation among distributed generators (DGs) in microgrids ...
Yang Wang +5 more
semanticscholar +1 more source