Robots that physically interact with their surroundings, in order to accomplish some tasks or
assist humans in their activities, require to exploit contact forces in a safe and proficient …

The demand for collaborative robots is growing in industrial environments due to their
versatility and low prices. Thus, more collaborative solutions are emerging for industrial …

Abstract Industry 4.0 is taking human-robot collaboration at the center of the production
environment. Collaborative robots enhance productivity and flexibility while reducing …

The problem of designing an analytical gain tuning and stable PID controller for nonlinear
robotic systems is a long-lasting open challenge. This problem becomes even more intricate …

The flexibility of the robot assembly process is critical, and a robot assembly system that is
not flexible may damage the workpieces. Most researchers make the assembly process …

In this paper, we present a novel data-driven design method for the human-robot interaction
(HRI) system, where a given task is achieved by cooperation between the human and the …

This paper proposes a novel constant force tracking control scheme based on an
impedance controller with online stiffness and reverse damping force (OSRDF) to track …

In order to realize the compliant grasping of apple harvesting robot and reduce the
mechanical damage in the process of grasping, a variable damping impedance control …

This paper presents a control design for a robotic manipulator with uncertainties in both
actuator dynamics and manipulator dynamics subject to asymmetric time-varying joint space …

This paper presents a novel constructive control design applicable for uncertain dynamic
systems subject to input and state saturations, unknown direction, and actuation faults. The …