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Learning variable impedance control
The International Journal of Robotics Research, 2011One 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 and safely in ...
Buchli, J. +3 more
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Composite Learning Enhanced Robot Impedance Control
IEEE Transactions on Neural Networks and Learning Systems, 2020The desired impedance dynamics can be achieved for a robot if and only if an impedance error converges to zero or a small neighborhood of zero. Although the convergence of impedance errors is important, it is seldom obtained in the existing impedance controllers due to robots modeling uncertainties and external disturbances.
Tairen Sun +4 more
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Robust Overwhelming Control and Impedance Control
2012Robust manipulator end effector trajectory control in presence of modelling uncertainties and unknown external disturbances is discussed in this chapter. The concept of overwhelming control is discussed first and it is shown how robust trajectory control is possible in unstructured and uncertain environment.
Rochdi Merzouki +3 more
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Direct adaptive impedance control
IFAC Proceedings Volumes, 1994Abstract This note presents a new direct adaptive impedance controller for force /position task. We assume that the environment stiffness is unknown and we consider the one-degree of freedom (dof) case. One of the major consequence of this study is that a generalization of the time-varying impedance leads to integral force feedback.
C. Canudas de Wit, B. Brogliato
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Spatial impedance control of redundant manipulators
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 2003This work is focused on impedance control of redundant manipulators. A spatial impedance formulation is presented where general 6-DOF end-effector tasks can be handled. A singularity-free angle/axis representation of end-effector orientation is used which allows geometric task consistency to be preserved.
C. NATALE +2 more
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Active Control of Wall Acoustic Impedance
AIAA Journal, 1999A novel kind of acoustic liner with controllable impedance is proposed. A set of active control systems has been designed for this kind of liner to control the sound absorption coefficient or the impedance of the liner. The control is achieved by adjusting the liner cavity depth and bias flow rate through the perforated plate of the liner.
Hongwu Zhao, Xiaofeng Sun
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Amplifier input impedances for myoelectric control
Medical & Biological Engineering & Computing, 1986Normal requirements for differential and common-mode input impedance of amplifiers for biological signals are reviewed. It is shown that these are not sufficient for satisfactory performance of amplifiers in myoelectric control applications, where accidental opening of the input circuit through electrode movement must not make the system susceptible to
R N, Scott, D F, Lovely
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Testing Controlled Impedance Boards
Circuit World, 1995This paper presents the results of research into the process of testing controlled impedance circuit boards. It aims to provide a general introduction to the subject of controlled impedance circuit board production for manufacturers wishing to make this type of board in the future and offers constructive suggestions for those who may want to improve on
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Manipulator impedance accuracy in position-based impedance control implementations
Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 2002Compares two position-based impedance controllers obtaining desired end-effector impedances during robot interaction with the environment. It is shown that while these two controllers have similar structures, the Adept Controller yields more accurate impedances in the DC region because of the stiffness control properties of the force loop. In addition,
C.R. Carignan, J.A. Smith
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Impedance control: Learning stability in human sensorimotor control
2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2015The human sensorimotor control system generates movement by adapting and controlling the mechanics of the musculoskeletal system. To generate skilful movements the sensorimotor control system must be able to predict and compensate for any disturbances generated either in our own body or in the external environment.
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