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Stability Considerations for Variable Impedance Control
IEEE Transactions on Robotics, 2016 Impedance control is a commonly used control architecture for robotic manipulation. For increased flexibility, the impedance can be programmed to vary during the task. This has important implications on the stability properties of the control system, which are often overlooked in practice.
Klas Kronander, Aude Billard
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Variable impedance control for aerial interaction
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014 This 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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User-controlled variable impedance teleoperation
2010 IEEE International Conference on Robotics and Automation, 2010Telerobotics fundamentally aims to project human skills into a remote, unstructured environment. A key component of human skills is anticipatory modulation of limb impedances in accordance with task requirements and in expectation of events or disturbances.
Daniel S. Walker +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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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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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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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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Passivity Filters for Bilateral Teleoperation with Variable Impedance Control
2025 IEEE International Conference on Robotics and Automation (ICRA)International audienceIn robotic teleoperation, it is crucial to be able to dynamically adjust interactions with the environment. Drawing inspiration from human behavior during interactions, Variable Impedance Control (VIC) has been widely adopted to ...
Fadi Alyousef Almasalmah +4 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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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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