Results 261 to 270 of about 147,312 (307)
Some of the next articles are maybe not open access.
Impedance Control of Robots: An Overview
2017 2nd International Conference on Cybernetics, Robotics and Control (CRC), 2017Impedance control has received significant efforts in recent decades in robotics as impedance control aims to achieve the desired mechanical interaction with uncertain environment. This paper is dedicated to the overview of basic concepts and principles, implementation strategies, challenging research problems and interests, etc.
Peng Song 0011, Yueqing Yu, Xuping Zhang
openaire +1 more source
Casimir based impedance control
2012 IEEE International Conference on Robotics and Automation, 2012This 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
Impedance control of an aerial manipulator
2012 American Control Conference (ACC), 2012This work focuses on the modeling and control of an innovative configuration of aerial robot arising from the combination of a vertical take-off and landing aircraft and a robotic arm. The overall system, denoted as aerial manipulator, is able to accomplish operations requiring the physical interaction with the surrounding environment while remaining ...
FORTE, FRANCESCO +3 more
openaire +2 more sources
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 ...
Buchli, J. +3 more
openaire +2 more sources
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 +2 more
openaire +1 more source
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 +2 more
openaire +1 more source
Impedance control of a teleoperated excavator
IEEE Transactions on Control Systems Technology, 2002Earth-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 +3 more
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), 2003This 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 +3 more
openaire +1 more source
Experiments of spatial impedance control
1998The 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 +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), 2004Humans 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 +3 more
openaire +1 more source
Adjusting the Impedance by Phase Control
2019 IEEE 2nd International Conference on Knowledge Innovation and Invention (ICKII), 2019New 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