Results 11 to 20 of about 45,923 (289)
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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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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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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Ankle Variable Impedance Control for Humanoid Robot Upright Balance Control [PDF]
, 2021 Upright balance control is the most fundamental, yet essential, function of a humanoid robot to enable the performance of various tasks that are traditionally performed by human being in various unstructured environments. Such control schemes were conventionally implemented by developing accurate physical and kinematic models based on fixed torque ...
Kaiyang Yin +3 more
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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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Robot Variable Impedance Control and Generalizing from Human–Robot Interaction Demonstrations
MathematicsThe purpose of this study was to ensure the compliance and safety of a robot’s movements during interactions with the external environment. This paper proposes a control strategy for learning variable impedance characteristics from multiple sets of ...
Feifei Zhong, Lingyan Hu, Yingli Chen
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Journal of Robotics, 2021 The bipedal robot should be able to maintain standing balance even in the presence of disturbing forces. The control schemes of bipedal robot are conventionally developed based on system models or fixed torque-ankle states, which often lack robustness ...
Kaiyang Yin +3 more
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Exploiting sensorimotor stochasticity for learning control of variable impedance actuators [PDF]
2010 10th IEEE-RAS International Conference on Humanoid Robots, 2010 Novel anthropomorphic robotic systems increasingly employ variable impedance actuation in order to achieve robustness to uncertainty, superior agility and efficiency that are hallmarks of biological systems. Controlling and modulating impedance profiles such that it is optimally tuned to the controlled plant is crucial to realise these benefits.
Djordje Mitrovic +3 more
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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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