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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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Stability Considerations for Variable Impedance Control
IEEE Transactions on Robotics, 2016Impedance control is a commonly used control architecture for robotic manipulation. For increased flexibility, the impedance can be programmed to vary during the task. This has important implications on the stability properties of the control system, which are often overlooked in practice.
Klas Kronander, Aude Billard
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A Plug-and-Play Active Impedance Module with Variable Impedance Control
2023 IEEE 14th International Symposium on Power Electronics for Distributed Generation Systems (PEDG), 2023Impedance implementation methods for active circuits are a potential alternative to bulky passive components with fixed impedance. However, existing impedance control methods are inability to interchange between different impedance operations in an active circuit, in which case it limits the application potential of active impedance circuits.
Lin, Zhihao +2 more
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User-controlled variable impedance teleoperation
2010 IEEE International Conference on Robotics and Automation, 2010Telerobotics fundamentally aims to project human skills into a remote, unstructured environment. A key component of human skills is anticipatory modulation of limb impedances in accordance with task requirements and in expectation of events or disturbances.
Daniel S Walker +2 more
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Feedforward impedance control efficiently reduce motor variability
Neuroscience Research, 2009Despite the existence of neural noise, which leads variability in motor commands, the central nervous system can effectively reduce movement variance at the end effector to meet task requirements. Although online correction based on feedback information is essential for reducing error, feedforward impedance control is another way to regulate motor ...
Rieko, Osu +3 more
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Variable impedance control for aerial interaction
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014This paper presents a versatile control architecture for aerial robots in interactive tasks. The control architecture is characterized by its unique capability of varying the apparent impedance of the controlled aerial robot as well as the interaction force, when in contact.
Mersha, A.Y. +2 more
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Operability Analysis of Bilateral Control Based on Variable Impedance Control
IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society, 2020This paper proposes a control method for master-slave system that considers the operating state of the human. The goal is to enable the manipulation of the robot in same manner as moving one’s own arm. Since interacting with environments with different stiffness generate different level of arm tension, this paper focuses on utilizing electromyography ...
Taiki Nemoto +2 more
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Force Tracking Impedance Control with Variable Target Stiffness
IFAC Proceedings Volumes, 2008Abstract In this paper, a novel force tracking impedance control strategy is presented in which target stiffness is varied on-line to regulate the desired contact force without any knowledge of the environment. Humans can control contact force by adjusting their arm stiffness.
K. Lee, M. Buss
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Variable Impedance Control of Cable Actuated Continuum Manipulators
International Journal of Control, Automation and Systems, 2020Continuum manipulators are a class of special compliant robots that have important potential applications in the field of human-machine interactive operations, or work in cluttered and constrained environments. In these application scenarios, the most popular operation tasks are those with coupling force-position constraints.
Guangping He +4 more
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