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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Efficient learning variable impedance control for industrial robots [PDF]
Bulletin of the Polish Academy of Sciences: Technical Sciences, 2019 Compared with the robots, humans can learn to perform various contact tasks in unstructured environments by modulating arm impedance characteristics. In this article, we consider endowing this compliant ability to the industrial robots to effectively ...
C. Li, Z. Zhang, G. Xia, X. Xie, Q. Zhu
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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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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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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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Impedance Force Control of Manipulator Based on Variable Universe Fuzzy Control
Actuators, 2023 Impedance control is a classic and straightforward control method that finds wide applications in various fields. However, traditional constant impedance control requires prior knowledge of the environment’s stiffness and position information.
Dexin Kong, Qingjiu Huang
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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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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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A Three‐Phase Electrostatic Clutch with Variable Mechanical Impedance Control for Soft Robotic Systems [PDF]
Advanced ScienceVarious studies have explored mechanical impedance control strategies in soft actuators to enhance stability and precision, as the nonlinear characteristics of soft materials frequently lead to unwanted oscillations. Among these approaches, electrostatic
Dongyoung Lee, Heejin Yu, Joonbum Bae
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