Results 211 to 220 of about 44,318 (258)
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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.
Abeje Y. Mersha +2 more
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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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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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Variable impedance control of a robot for cooperation with a human
Proceedings of 1995 IEEE International Conference on Robotics and Automation, 2002Robots are expected to be human-friendly and to execute tasks in cooperation with humans. Control systems for such robots should be designed in order to adapt human characteristics. In this paper, a variable impedance control method for robot to cooperate with human is proposed.
Ryojun Ikeura, Hikaru Inooka
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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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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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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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Tele-impedance control of a variable stiffness prosthetic hand
2012 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2012We propose a variable stiffness prosthetic hand and present its surface electromyography (sEMG) interface for tele-impedance control. Such an interface, together with variable stiffness actuation (VSA), enables the amputee to modulate the impedance of the prosthetic limb to properly match the requirements of the task at hand, while performing ...
Elif Hocaoglu, Volkan Patoglu
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Variable damping impedance control of a bilateral telerobotic system
Proceedings of IEEE International Conference on Robotics and Automation, 2002Stiffness and damping control in a telerobotic system allows the master and slave dynamics to be defined by the user. However, many requirements for good teleoperation produce conflicting choices of desired dynamic parameters. Rather than selecting a compromise value for the damping of the master and slave, it is proposed that these values be ...
Tan Fung Chan +2 more
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