Variable Impedance Control and Learning—A Review [PDF]
Frontiers in Robotics and AI, 2020 Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a prominent approach in
Fares J. Abu-Dakka, Matteo Saveriano
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Efficient Force Control Learning System for Industrial Robots Based on Variable Impedance Control [PDF]
Sensors, 2018 Learning variable impedance control is a powerful method to improve the performance of force control. However, current methods typically require too many interactions to achieve good performance. Data-inefficiency has limited these methods to learn force-
Chao Li +4 more
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User-Adaptive Variable Impedance Control Using Bayesian Optimization for Robot-Aided Ankle Rehabilitation [PDF]
IEEE Transactions on Neural Systems and Rehabilitation EngineeringThis paper presents a user-adaptive variable impedance control approach for robot-aided rehabilitation, initially focusing on an ankle rehabilitation application.
Gautham Manoharan, Hyunglae Lee
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Variable Impedance Control Based on Target Position and Tracking Error for Rehabilitation Robots During a Reaching Task [PDF]
Frontiers in Neurorobotics, 2022 To obtain an anthropomorphic performance in physical human-robot interaction during a reaching task, a variable impedance control (vIC) algorithm with human-like characteristics is proposed in this article.
Rongrong Tang +6 more
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Data-Efficient Reinforcement Learning for Variable Impedance Control
IEEE AccessOne of the most crucial steps toward achieving human-like manipulation skills in robots is to incorporate compliance into the robot controller. Compliance not only makes the robot’s behaviour safe but also makes it more energy efficient.
Akhil S. Anand +3 more
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Research on Adaptive Variable Impedance Control Method Based on Adaptive Neuro-Fuzzy Inference System [PDF]
SensorsPrecise force tracking and overshoot suppression are critical for manipulator dynamic contact tasks, especially in unstructured environments such as complex surface cleaning that rely on dynamic feedback from force sensors.
Xianlun Wang +3 more
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Adaptive variable impedance hybrid force-position control method for hub-spoke grinding robots [PDF]
Scientific ReportsThis paper presents an adaptive hybrid force-position control method for wheel-spoke grinding robots, addressing two critical industry challenges: (1) path-surface mismatch causing localized over/under-grinding, and (2) unstable contact pressure leading ...
Shang Wei +7 more
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A model reference adaptive variable impedance control method for robot [PDF]
MATEC Web of Conferences, 2021 As a simple and effective force tracking control method, impedance control is widely used in robot contact operations. The internal control parameters of traditional impedance control are constant and cannot be corrected in real time, which will lead to ...
Sun Xinchao, Zhao Lianyu, Liu Zhenzhong
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Passivity Filter for Variable Impedance Control [PDF]
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020 While impedance control is one of the most commonly used strategies for robot interaction control, variable impedance control is a more recent preoccupation. If designing impedance control with varying parameters allows increasing the system flexibility and dexterity, it is still a challenging issue, as it may result in a loss of passivity of the ...
Maciej Bednarczyk +2 more
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Varying rate adaptive hybrid position–impedance control for robot-assisted ultrasonic examination system [PDF]
Mechanical Sciences, 2022 Robot ultrasound has great potential for reducing the workload of a sonographer, improving the access to nursing care, producing more accurate imaging, and avoiding direct contact with patients.
Z. Xie, Z. Yan
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