Results 21 to 30 of about 44,318 (258)
Dual PID Adaptive Variable Impedance Constant Force Control for Grinding Robot
Applied Sciences, 2023 High-precision and low-overshoot force control are important to guarantee the material removal rate and surface quality of robot grinding. However, traditional force control methods are subjected to positional disturbance, stiffness disturbance, contact ...
Chong Wu, Kai Guo, Jie Sun
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Cartesian impedance control for a variable stiffness robot arm [PDF]
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011 The variable stiffness actuation (VSA) technology has been recently developed and applied in robotic arms. Mechanism robustness, high peak torque and velocity, and stiffness adjustment flexibility are key benefits of VSA joints. However, the achievable Cartesian stiffness by uncoupled VSA joints is limited.
Petit, Florian +1 more
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sEMG-Based Natural Control Interface for a Variable Stiffness Transradial Hand Prosthesis
Frontiers in Neurorobotics, 2022 We propose, implement, and evaluate a natural human-machine control interface for a variable stiffness transradial hand prosthesis that achieves tele-impedance control through surface electromyography (sEMG) signals.
Elif Hocaoglu +2 more
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Adaptive Grid Impedance Shaping Approach Applied for Grid-Forming Power Converters
IEEE Access, 2022 This paper proposes an adaptive grid impedance shaping approach, implemented through a variable structure virtual impedance control strategy (VS-VIS), to improve the power flow control of grid-forming power converters (GF-PC).
Ricardo Lucio de Araujo Ribeiro +3 more
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Variable Impedance Control - A Reinforcement Learning Approach
Robotics: Science and Systems VI, 2010 One of the hallmarks of the performance, versatility, and robustness of biological motor control is the ability to adapt the impedance of the overall biomechanical system to different task requirements and stochastic disturbances. A transfer of this principle to robotics is desirable, for instance to enable robots to work robustly and safely in ...
Jonas Buchli +3 more
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Learning Variable Impedance Control for Contact Sensitive Tasks [PDF]
IEEE Robotics and Automation Letters, 2020 Reinforcement learning algorithms have shown great success in solving different problems ranging from playing video games to robotics. However, they struggle to solve delicate robotic problems, especially those involving contact interactions. Though in principle a policy directly outputting joint torques should be able to learn to perform these tasks ...
Miroslav Bogdanovic +2 more
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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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Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots
Robotics, 2023 Continuum robots are increasingly used in medical applications and the master–slave-based architectures are still the most important mode of operation in human–machine interaction.
Yiping Xie, Xilong Hou, Shuangyi Wang
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Mechanical Engineering Journal, 2023 Human-Robot Collaboration (HRC) systems are becoming widespread in industrial applications owing to the advantages of enhancing work productivity and reducing production expenses.
Liem Duc TRAN +3 more
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Micromachines, 2022 Cable-driven manipulators, characterized by slender arms, dexterous motion, and controllable stiffness, have great prospects for application to capture on-orbit satellites.
Luyang Zhang +6 more
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