Results 11 to 20 of about 44,318 (258)
Adaptive Variable-Damping Impedance Control for Unknown Interaction Environment
Mathematics, 2023 Aiming at the force-tracking error phenomenon of impedance control in an unknown surface environment, an adaptive variable-damping impedance control algorithm is proposed, and the stability and convergence of the algorithm are deduced.
Dawei Gong +5 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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An online impedance adaptation controller for decoding skill intelligence
Biomimetic Intelligence and Robotics, 2023 Variable Impedance control allows robots and humans to safely and efficiently interact with unknown external environments. This tutorial introduces online impedance adaptation control (OIAC) for variable compliant joint motions in a range of control ...
Xiaofeng Xiong, Cheng Fang
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Deep Model Predictive Variable Impedance Control
CoRR, 2022 The capability to adapt compliance by varying muscle stiffness is crucial for dexterous manipulation skills in humans. Incorporating compliance in robot motor control is crucial to performing real-world force interaction tasks with human-level dexterity.
Akhil S. Anand +2 more
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Sensorless variable impedance compliant control for human–robot interaction
AIP Advances, 2022 In order to improve compliance in human–robot interaction, a sensorless variable impedance control method is proposed. Variable impedance control is constructed using the end-effector velocity and the human–robot interaction force.
Xia Liu, Jianguo Wu, Lu Wang
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Adaptive Impedance Control for Force Tracking in Manipulators Based on Fractional-Order PID
Applied Sciences, 2023 Force tracking control in robot arms has been widely used in many industrial applications, particularly in tasks involving end effectors and environmental contact, such as grinding, polishing, and other similar operations. However, these environments are
Longhao Gu, Qingjiu Huang
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Impedance tracking control of magnetostrictive transducer based on variable stiffness tuning
Journal of Science: Advanced Materials and Devices, 2023 A magnetostrictive transducer (MT) is a highly integrated transducer that enables magneto-mechanical energy conversion when outputting actuation motion or force.
Liang Shu +4 more
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IEEE Access, 2022 In this paper, a novel variable impedance control method is proposed in bilateral tele-operation systems. Inspired by adaptability and stability of the human arm in unstructured environments, the varied parameters of the impedance state for the operator&#
Jingjing Li +3 more
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Perturbation-Based Stiffness Inference in Variable Impedance Control
IEEE Robotics and Automation Letters, 2022 © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted ...
Caldarelli, Edoardo +3 more
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Input-to-State Stability of Variable Impedance Control for Robotic Manipulator
Applied Sciences, 2020 Variable impedance control has been required to perform a variety of interactive tasks in contact with environments. In some cases, the time-varying stiffness matrix of the impedance model can be used to achieve high performance for uneven contact tasks.
Junho Park, Youngjin Choi
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