Results 21 to 30 of about 17,953,914 (330)
Deep Model Predictive Variable Impedance Control [PDF]
Robotics Auton. Syst., 2022 The capability to adapt compliance by varying muscle stiffness is crucial for dexterous manipulation skills in humans. Incorporating compliance in robot motor control is crucial to performing real-world force interaction tasks with human-level dexterity.
Akhil S. Anand +2 more
semanticscholar +1 more source
Adaptive End-Effector Buffeting Sliding Mode Control for Heavy-Duty Robots with Long Arms
Mathematics, 2023 This study aims to resolve the problems of low precision, poor flexibility and unstable operation in the control performance of loading robots with long telescopic booms and heavy loads.
Wenqiang Wu +8 more
doaj +1 more source
Application of the Half-Order Derivative to Impedance Control of the 3-PUU Parallel Robot
Actuators, 2022 This paper presents an extension of impedance control of robots based on fractional calculus. In classical impedance control, the end-effector reactions are proportional to the end-effector position errors through the stiffness matrix K, while damping is
Luca Bruzzone +2 more
doaj +1 more source
Sensors, 2021 Robot-assisted minimally invasive surgery (MIS) has received increasing attention, both in the academic field and clinical operation. Master/slave control is the most widely adopted manipulation mode for surgical robots.
Hu Shi +3 more
doaj +1 more source
Bilateral Teleoperation With Adaptive Impedance Control for Contact Tasks
IEEE Robotics and Automation Letters, 2021 This letter presents an adaptive impedance control architecture for robotic teleoperation of contact tasks featuring continuous interaction with the environment.
Youssef Michel +4 more
semanticscholar +1 more source
Frontiers in Robotics and AI, 2022 Lower limb exoskeletons are widely used for rehabilitation training of patients suffering from neurological disorders. To improve the human–robot interaction performance, series elastic actuators (SEAs) with low output impedance have been developed ...
Lufan Mo +8 more
doaj +1 more source
Q-Learning-based model predictive variable impedance control for physical human-robot collaboration
Artificial Intelligence, 2022 Physical human-robot collaboration is increasingly required in many contexts. To implement an effective collaboration, the robot should be able to recognize the human’s intentions and guarantee safe and adaptive behavior along the intended motion ...
L. Roveda +4 more
semanticscholar +1 more source
Journal of Advanced Mechanical Design, Systems, and Manufacturing, 2021 This study mainly aims to ensure the safety of elderly people with a walking assistive device during ground-stair transition. A system that could automatically transfer the walking mode of the assistive device after detecting the ground or stairs is ...
Bo-Rong YANG +5 more
doaj +1 more source
Simultaneously encoding movement and sEMG-based stiffness for robotic skill learning [PDF]
, 2021 Transferring human stiffness regulation strategies to robots enables them to effectively and efficiently acquire adaptive impedance control policies to deal with uncertainties during the accomplishment of physical contact tasks in an unstructured ...
Cheng, Hong +4 more
core +1 more source
Impedance scaling and impedance control [PDF]
Proceedings of the 1997 Particle Accelerator Conference (Cat. No.97CH36167), 2002 When a machine becomes really large, such as the Very Large Hadron Collider (VLHC), of which the circumference could reach the order of megameters, beam instability could be an essential bottleneck. This paper studies the scaling of the instability threshold vs. machine size when the coupling impedance scales in a "normal" way.
Chou, W., Griffin, J.
openaire +1 more source