A tutorial survey and comparison of impedance control on robotic manipulation
There have been significant interests and efforts in the field of impedance control on robotic
manipulation over last decades. Impedance control aims to achieve the desired mechanical …
manipulation over last decades. Impedance control aims to achieve the desired mechanical …
An introductory review of active compliant control
M Schumacher, J Wojtusch, P Beckerle… - Robotics and …, 2019 - Elsevier
Active compliant control enables to quickly and freely adjust the properties and dynamic
behavior of interactions of mechanisms within certain limits. According to the emerging …
behavior of interactions of mechanisms within certain limits. According to the emerging …
Collision-free human-robot collaboration based on context awareness
Recent advancements in human-robot collaboration have enabled human operators and
robots to work together in a shared manufacturing environment. However, current distance …
robots to work together in a shared manufacturing environment. However, current distance …
Optimized assistive human–robot interaction using reinforcement learning
An intelligent human-robot interaction (HRI) system with adjustable robot behavior is
presented. The proposed HRI system assists the human operator to perform a given task …
presented. The proposed HRI system assists the human operator to perform a given task …
Adaptive impedance control of human–robot cooperation using reinforcement learning
This paper presents human-robot cooperation with adaptive behavior of the robot, which
helps the human operator to perform the cooperative task and optimizes its performance. A …
helps the human operator to perform the cooperative task and optimizes its performance. A …
Toward improving actuation transparency and safety of a hip exoskeleton with a novel nonlinear series elastic actuator
Actuation transparency and safety are important requirements in the design and control of
assistive exoskeletons for individuals who suffer lower limb deficits but still maintain a …
assistive exoskeletons for individuals who suffer lower limb deficits but still maintain a …
Design and control of a series elastic actuator with clutch for hip exoskeleton for precise assistive magnitude and timing control and improved mechanical safety
Transparency and guaranteed safety are important requirements in the design of wearable
exoskeleton actuators for individuals who have lower limb deficits but still maintain a certain …
exoskeleton actuators for individuals who have lower limb deficits but still maintain a certain …
Virtual and physical prototyping of a beam-based variable stiffness actuator for safe human-machine interaction
This paper reports about the virtual and physical prototyping of an antagonistic Variable
Stiffness Actuator (VSA) to be used on robotic arms specifically realized for physical human …
Stiffness Actuator (VSA) to be used on robotic arms specifically realized for physical human …
Force control of SEA-based exoskeletons for multimode human–robot interactions
In this article, a proxy-based force control method is proposed for three important human-
robot interaction modes: zero-impedance mode, force assistive mode, and large force mode …
robot interaction modes: zero-impedance mode, force assistive mode, and large force mode …
Asymmetrical nonlinear impedance control for dual robotic machining of thin-walled workpieces
X Zhao, B Tao, L Qian, Y Yang, H Ding - Robotics and Computer-Integrated …, 2020 - Elsevier
Impedance control is to provide stable tracking by regulating the impedance response of a
robot. In this paper, an asymmetrical nonlinear impedance control (ANIC) is proposed for a …
robot. In this paper, an asymmetrical nonlinear impedance control (ANIC) is proposed for a …