Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Adaptive Speed and Incline Walking. [PDF]
IEEE Trans Robot, 2023 Best TK, Welker CG, Rouse EJ, Gregg RD.
europepmc +2 more sources
A model reference adaptive variable impedance control method for robot [PDF]
MATEC Web of Conferences, 2021 As a simple and effective force tracking control method, impedance control is widely used in robot contact operations. The internal control parameters of traditional impedance control are constant and cannot be corrected in real time, which will lead to ...
Sun Xinchao, Zhao Lianyu, Liu Zhenzhong
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Varying rate adaptive hybrid position–impedance control for robot-assisted ultrasonic examination system [PDF]
Mechanical Sciences, 2022 Robot ultrasound has great potential for reducing the workload of a sonographer, improving the access to nursing care, producing more accurate imaging, and avoiding direct contact with patients.
Z. Xie, Z. Yan
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Simultaneously encoding movement and sEMG-based stiffness for robotic skill learning [PDF]
, 2021 Transferring human stiffness regulation strategies to robots enables them to effectively and efficiently acquire adaptive impedance control policies to deal with uncertainties during the accomplishment of physical contact tasks in an unstructured ...
Cheng, Hong +4 more
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Passivity Filter for Variable Impedance Control [PDF]
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020 While impedance control is one of the most commonly used strategies for robot interaction control, variable impedance control is a more recent preoccupation. If designing impedance control with varying parameters allows increasing the system flexibility and dexterity, it is still a challenging issue, as it may result in a loss of passivity of the ...
Maciej Bednarczyk +2 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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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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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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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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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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