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Learning Variable Impedance Control for Contact Sensitive Tasks [PDF]
IEEE Robotics and Automation Letters, 2019 Reinforcement learning algorithms have shown great success in solving different problems ranging from playing video games to robotics. However, they struggle to solve delicate robotic problems, especially those involving contact interactions.
Miroslav Bogdanovic +2 more
semanticscholar +1 more source
Multiple-priority impedance control [PDF]
2011 IEEE International Conference on Robotics and Automation, 2011 Impedance control is well-suited to robot manipulation applications because it gives the designer a measure of control over how the manipulator to conforms to the environment. However, in the context of end-effector impedance control when the robot manipulator is redundant with respect to end-effector configuration, the question arises regarding how to
Robert Platt +2 more
openaire +1 more source
IEEE Access, 2019 The flexibility of the robot assembly process is critical, and a robot assembly system that is not flexible may damage the workpieces. Most researchers make the assembly process flexible by installing a six-dimensional force/torque sensor at the end of ...
Fan Zeng, Juliang Xiao, Haitao Liu
doaj +1 more source
Actuators, 2023 The integration of a passive elastic element in series between a motor and its load is popular in many human–robot interaction scenarios. By virtually imposing elastic behavior on the motor, an impedance control can act as a second stiffness to such an ...
Rodrigo J. Velasco-Guillen +3 more
doaj +1 more source
Analogy electromagnetism-acoustics: Validation and application to local impedance active control for sound absorption [PDF]
, 1998 An analogy between electromagnetism and acoustics is presented in 2D. The propagation of sound in presence of absorbing material is modeled using an open boundary microwave package.
Furstoss, M. +2 more
core +3 more sources
Trajectory Deformations from Physical Human-Robot Interaction
, 2017 Robots are finding new applications where physical interaction with a human is necessary: manufacturing, healthcare, and social tasks. Accordingly, the field of physical human-robot interaction (pHRI) has leveraged impedance control approaches, which ...
Losey, Dylan P., O'Malley, Marcia K.
core +1 more source
ISA transactions, 2020 A new adaptive impedance, augmented with backstepping control, time-delay estimation, and a disturbance observer, was designed to perform passive-assistive rehabilitation motion.
B. Brahmi +4 more
semanticscholar +1 more source
Aerospace, 2023 The on-orbit operation of insertion and extraction of space robots is a technology essential to the assembly and maintenance in orbit, satellite fuel filling, failed satellite recovery, especially modular in-orbit assembly of micro-spacecraft. Therefore,
Dongbo Liu, Li Chen
doaj +1 more source
Position Drift Compensation in Port-Hamiltonian Based Telemanipulation [PDF]
, 2006 Passivity based bilateral telemanipulation schemes are often subject to a position drift between master and slave if the communication channel is implemented using scattering variables.
Fantuzzi, Cesare +2 more
core +8 more sources
SensorsAerial manipulators expand the application scenarios of manipulators into the air. To complete various operations, the contact force between the aerial manipulator and the target must be precisely controlled.
Qian Fang, Pengjun Mao
doaj +1 more source