Results 281 to 290 of about 17,953,914 (330)
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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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Object-Level Impedance Control for Dexterous In-Hand Manipulation
IEEE Robotics and Automation Letters, 2020This work presents a novel object-level control framework for the dexterous in-hand manipulation of objects with torque-controlled robotic hands. The proposed impedance-based controller realizes the compliant 6-DOF positioning of a grasped object ...
Martin Pfanne +4 more
semanticscholar +1 more source
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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Neural approximation-based adaptive variable impedance control of robots
Transactions of the Institute of Measurement and Control, 2020Variable impedance control improves compliance and robustness in robot-environment interaction through variation of the desired stiffness and the desired damping. This paper proposes neural approximation-based variable impedance controllers for robots in
Xuexin Zhang, Tairen Sun, Dongning Deng
semanticscholar +1 more source
Neurocomputing, 2019
In this paper, an adaptive neural network force tracking impedance control scheme based on a nonlinear observer is proposed to control robotic system with uncertainties and external disturbances.
Zeqi Yang, Jinzhu Peng, Yanhong Liu
semanticscholar +1 more source
In this paper, an adaptive neural network force tracking impedance control scheme based on a nonlinear observer is proposed to control robotic system with uncertainties and external disturbances.
Zeqi Yang, Jinzhu Peng, Yanhong Liu
semanticscholar +1 more source
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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UDE-Based Variable Impedance Control of Uncertain Robot Systems
IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2019A fundamental requirement in robot control is the capability to improve the robot–environment interaction performance. Motivated by the fact that humans are able to adapt limb impedance to stably interact with various environments with skillful dexterity,
Yiting Dong, B. Ren
semanticscholar +1 more source
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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