Results 21 to 30 of about 45,923 (289)

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
doaj   +1 more source

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
doaj   +1 more source

A Novel EMG-Based Variable Impedance Control Method for a Tele-Operation System Under an Unstructured Environment

IEEE Access, 2022
In this paper, a novel variable impedance control method is proposed in bilateral tele-operation systems. Inspired by adaptability and stability of the human arm in unstructured environments, the varied parameters of the impedance state for the operator&#
Jingjing Li, Guibin Li, Zhen Chen, Jian Li   +3 more
doaj   +1 more source

Perturbation-Based Stiffness Inference in Variable Impedance Control

IEEE Robotics and Automation Letters, 2022
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Caldarelli, Edoardo, Colome, Adria, Torras, Carme, Caldarelli, Edoardo   +3 more
openaire   +4 more sources

Input-to-State Stability of Variable Impedance Control for Robotic Manipulator

Applied Sciences, 2020
Variable impedance control has been required to perform a variety of interactive tasks in contact with environments. In some cases, the time-varying stiffness matrix of the impedance model can be used to achieve high performance for uneven contact tasks.
Junho Park, Youngjin Choi
doaj   +1 more source

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
doaj   +1 more source

Variable Impedance Actuators: Moving the Robots of Tomorrow [PDF]

, 2012
Most of today's robots have rigid structures and actuators requiring complex software control algorithms and sophisticated sensor systems in order to behave in a compliant and safe way adapted to contact with unknown environments and humans.
Lefeber, D., Grioli, G., Haddadin, Sami, Stramigioli, S., A. Bicchi, Bicchi, Antonio, Carloni, R., Laffranchi, M., Haddadin, S., Jafari, A., Visser, L.C., Catalano, M.G., M. Catalano, Albu-Schäffer, Alin Olimpiu, Van Damme, M., F. Petit, Caldwell, D., M. Laffranchi, D. Caldwell, G. Ganesh, R. Carloni, Caldwell, D.G., Stramigioli, S.; id_orcid, Burdet, Etienne, Wolf, Sebastian, R. Van Ham, Garabini, M., B. Vanderborght, M. Grebenstein, S. Wolf, Catalano, M., Burdet, E., S. Haddadin, M. Garabini, Grebenstein, Markus, Ganesh, G., Vanderborght, B., D. Lefeber, M. Van Damme, Petit, F., Wolf, S., Van Ham, R., N. Tsagarakis, Albu-Schaeffer, A., Tsagarakis, N., Bicchi, A., E. Burdet, L. C. Visser   +47 more
core   +1 more source

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, Albu-Schäffer, Alin Olimpiu   +1 more
openaire   +2 more sources

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, Elif Hocaoglu, Volkan Patoglu   +2 more
doaj   +1 more source

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, Arman Oshnoei, Amjad Anvari-Moghaddam, Frede Blaabjerg   +3 more
doaj   +1 more source