Results 211 to 220 of about 124,443 (256)

Casimir based impedance control

2012 IEEE International Conference on Robotics and Automation, 2012
This paper proposes a new impedance control principle for mechanical systems which have driving systems whose control input is not the torque any more. It is shown how to transform such mechanical systems with driving systems into another systems with the desired mechanical impedance.
Satoru Sakai, Stefano Stramigioli
openaire   +1 more source

Learning variable impedance control

The International Journal of Robotics Research, 2011
One of the hallmarks of the performance, versatility, and robustness of biological motor control is the ability to adapt the impedance of the overall biomechanical system to different task requirements and stochastic disturbances. A transfer of this principle to robotics is desirable, for instance to enable robots to work robustly ...
Buchli, J., Stulp, F., Theodorou, E., Schaal, S.   +3 more
openaire   +2 more sources

Impedance control as an optimal control problem: a novel formulation of impedance controllers as a subcase of optimal control

Journal of the Brazilian Society of Mechanical Sciences and Engineering, 2020
A formulation of impedance control for redundant manipulators is presented here as a particular case of an optimal control problem. This allows the design of an impedance controller that benefits from the stability and efficiency of an optimal controller.
Guilherme Phillips Furtado, Pedro Parik Americano, Arturo Forner-Cordero   +2 more
openaire   +1 more source

Impedance control of a teleoperated excavator

IEEE Transactions on Control Systems Technology, 2002
Earth-moving machines such as hydraulic excavators are usually used for carrying out contact tasks. Impedance control can be employed as an approach for achieving compliant motion in such tasks. This paper describes a position-based impedance controller that has been developed in our laboratory for excavator-type manipulators, and presents the ...
Shahram Tafazoli, Septimiu E. Salcudean, Keyvan Hashtrudi-Zaad, Peter D. Lawrence   +3 more
openaire   +1 more source

Adjusting the Impedance by Phase Control

2019 IEEE 2nd International Conference on Knowledge Innovation and Invention (ICKII), 2019
New equations for a transformer circuit are derived when the attenuation and the phase change occurring as the magnetic flux propagates through the magnetic core are considered. The power and the impedance can be adjusted by controlling the phase change.
Aquila H. Lee, Hijung Chai, Won Don Lee
openaire   +1 more source

Iterative learning of impedance control

Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289), 2003
This paper proposes an iterative learning control scheme for impedance control of robotic tasks when the tool endpoint covered by soft and deformable material presses a rigid object or environment at a prescribed periodic force pattern. To this end, an iterative learning control scheme for a class of linear dynamical systems with a negative feedback ...
Pham Thuc Anh Nguyen, Hyun-Yong Han, Suguru Arimoto, Sadao Kawamura   +3 more
openaire   +1 more source

Experiments of spatial impedance control

1998
The goal of this work is to present the results of an experimental study of impedance control schemes for a robot manipulator in contact with the environment. Six-degree-of-freedom interaction tasks are considered which require the implementation of a spatial impedance described in terms of both its translational and its rotational part.
F. CACCAVALE, C. NATALE, SICILIANO, BRUNO, VILLANI, LUIGI   +3 more
openaire   +3 more sources

Passive impedance control with time-varying impedance center

Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694), 2004
Humans can perform skillful tasks adaptively and safely while interacting with uncertain dynamic environment. With respect to the adaptation ability, it was pointed out that impedance control could play a center role in the human motor control mechanism.
Yasuo Kishi, Zhi Wei Luo, Fumihiko Asano, Shigeyuki Hosoe   +3 more
openaire   +1 more source

Learning impedance control for robotic manipulators

IEEE Transactions on Robotics and Automation, 1998
Most researches on learning control of constrained robots have been focused on the problem of hybrid position/force control where the learning controllers are designed to track the desired motion and force trajectories. The learning impedance control of robotic manipulators, however, has not been developed so far.
Chien-Chern Cheah, Danwei Wang
openaire   +1 more source

Impedance Control of a Spherical Parallel Platform

International Journal of Intelligent Mechatronics and Robotics, 2011
This article describes the impedance control of an in-parallel actuated orientation platform. The algorithm is based on a representation of platform orientation which exploits the equivalent axis of rotation: this approach is more intuitive and easier to visualize than conventional methods based on Cardan or Euler angles.
Luca Carbonari, Luca E. Bruzzone, Massimo Callegari   +2 more
openaire   +2 more sources