Results 21 to 30 of about 188,665 (188)
Impedance tracking control of magnetostrictive transducer based on variable stiffness tuning
Journal of Science: Advanced Materials and Devices, 2023 A magnetostrictive transducer (MT) is a highly integrated transducer that enables magneto-mechanical energy conversion when outputting actuation motion or force.
Liang Shu +4 more
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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 +3 more
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Deep Model Predictive Variable Impedance Control
, 2022 The capability to adapt compliance by varying muscle stiffness is crucial for dexterous manipulation skills in humans. Incorporating compliance in robot motor control is crucial to performing real-world force interaction tasks with human-level dexterity.
Anand, Akhil S +2 more
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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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Ankle Variable Impedance Control for Humanoid Robot Upright Balance Control [PDF]
, 2021 Upright balance control is the most fundamental, yet essential, function of a humanoid robot to enable the performance of various tasks that are traditionally performed by human being in various unstructured environments. Such control schemes were conventionally implemented by developing accurate physical and kinematic models based on fixed torque ...
Yin, Kaiyang +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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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
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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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Human Like Adaptation of Force and Impedance in Stable and Unstable Tasks [PDF]
, 2011 —This paper presents a novel human-like learning con-troller to interact with unknown environments. Strictly derived from the minimization of instability, motion error, and effort, the controller compensates for the disturbance in the environment in ...
Albu-Schaeffer, A +5 more
core +1 more source
Novel Dexterous Robotic Finger Concept with Controlled Stiffness [PDF]
, 2009 This paper introduces a novel robotic finger concept for variable impedance grasping in unstructured tasks. The novel robotic finger combines three key features: minimal actuation, variable mechanical compliance and full manipulability.
Brouwer, Dannis +3 more
core +8 more sources