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Adaptive impedance control of a variable stiffness actuator
Advanced Robotics, 2015This paper proposes an optimal impedance control method for a variable stiffness actuator (VSA), in which a variable stiffness mechanism and an actuator are aligned in series. First, we introduce a circuit expression of the robotic system and provide a unified framework to determine an optimal index of robots driven by VSAs, irrespective of the ...
Ryuta Ozawa +2 more
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Variable Impedance Control of Manipulator Based on DQN
2020For traditional constant impedance control, the robot suffers from constant stiffness, poor flexibility, large wear and high energy consumption in the process of movement. To address these problems, a variable impedance control method based on reinforcement learning (RL) algorithm Deep Q Network (DQN) is proposed in this paper.
Yongjin Hou +5 more
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Control of Movement Variability and the Regulation of Limb Impedance
Journal of Neurophysiology, 2007Humans routinely make movements to targets that have different accuracy requirements in different directions. Examples extend from everyday occurrences such as grasping the handle of a coffee cup to the more refined instance of a surgeon positioning a scalpel. The attainment of accuracy in situations such as these might be related to the nervous system'
Daniel R, Lametti +2 more
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A Single-Control Variable-Frequency Impedance-Transforming Network
Proceedings of the IRE, 1948The basis of the variable-frequency transformer to be described is the familiar transmission-line stub matching section. Although an infiiite number of structures may be found to produce the desired transformation at any one frequency, it is generally necessary to vary the lengths of the component lines to maintain matching when the frequency is ...
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A tank-based approach to impedance control with variable stiffness
2013 IEEE International Conference on Robotics and Automation, 2013In this paper, we present a new impedance control strategy that allows to reproduce a time-varying stiffness. By properly controlling the energy exchanged during the action, we guarantee the system passivity for any choice of the stiffness matrix, especially in case of time-varying stiffness, and therefore a stable behavior of the robot both in free ...
FERRAGUTI, Federica +2 more
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Constrained Variable Impedance Control using Quadratic Programming
2022 International Conference on Robotics and Automation (ICRA), 2022Zhehao Jin +4 more
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Online Estimation of Impedance Parameters for a Variable Impedance Controlled Robotic Manipulator
2018The aim of this work is to estimate the impedance parameters, namely the damping and stiffness, of a variable impedance dynamic system. The estimation is performed using a Constrained Extended Kalman Filter (CEKF). Comparing the various non-linear estimation techniques, Extended Kalman Filter shows a superiority with respect to speed of execution. This
Ajinkya Bhole +6 more
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Stability-Guaranteed Variable Impedance Control of Robots Based on Approximate Dynamic Inversion
IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2021Tairen Sun, Liang Peng, Long Cheng
exaly