First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach
Sign Up to like & getrecommendations! Published in 2017 at "Autonomous Robots"
DOI: 10.1007/s10514-016-9565-1
Abstract: This paper presents the first steps toward successfully translating nonlinear real-time optimization based controllers from bipedal walking robots to a self-contained powered transfemoral prosthesis: AMPRO, with the goal of improving both the tracking performance and… read more here.
Keywords: impedance control; control; optimization based; optimization ... See more keywords
Learning impedance control of robots with enhanced transient and steady-state control performances
Sign Up to like & getrecommendations! Published in 2020 at "Science China Information Sciences"
DOI: 10.1007/s11432-019-2639-6
Abstract: This study proposes a learning impedance controller comprising a proportional feedback control term, a composite-learning-based uncertainty estimation term, and a robot-environment interaction control term. The impedance control problem is converted into a particular reference-trajectory tracking… read more here.
Keywords: impedance control; transient steady; learning impedance; control ... See more keywords
Parameter Determination Technique for Impedance Control of Interactive Robots Using Transformation Matrices
Sign Up to like & getrecommendations! Published in 2020 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2020.06.034
Abstract: Abstract Interactive robots are usually equipped with impedance control, which is a technique to modulate the system’s dynamics. The degree change in the system’s parameters has been left as a challenging problem, even when the… read more here.
Keywords: technique; interactive robots; methodology; impedance control ... See more keywords
Robust adaptive impedance control of robot manipulators using Szász-Mirakyan operator as universal approximator.
Sign Up to like & getrecommendations! Published in 2020 at "ISA transactions"
DOI: 10.1016/j.isatra.2020.06.017
Abstract: In the present work, impedance control of robot manipulators is enhanced. The controller is designed by using Szász-Mirakyan operator as Universal approximator. Although the Szász-Mirakyan operator has been extensively used for dealing with approximation of… read more here.
Keywords: mirakyan operator; using mirakyan; mirakyan; impedance control ... See more keywords
Adaptive Sliding Mode Impedance Control of Single-Link Flexible Manipulators interacting with the Environment at an Unknown Intermediate Point
Sign Up to like & getrecommendations! Published in 2019 at "Robotica"
DOI: 10.1017/s026357471900167x
Abstract: SUMMARY This paper proposes an adaptive robust impedance control for a single-link flexible arm when it encounters an environment at an unknown intermediate point. First, the intermediate collision point is estimated using a collision detection… read more here.
Keywords: control; impedance control; point; environment ... See more keywords
Impedance Control Strategies for Enhancing Sloped and Level Walking Capabilities for Individuals with Transfemoral Amputation Using a Powered Multi-Joint Prosthesis.
Sign Up to like & getrecommendations! Published in 2020 at "Military medicine"
DOI: 10.1093/milmed/usz229
Abstract: INTRODUCTION Powered prostheses are a promising new technology that may help people with lower-limb loss improve their ability to perform locomotion tasks. Developing active prostheses requires robust design methodologies and intelligent controllers to appropriately provide… read more here.
Keywords: level walking; prosthesis; impedance control; powered knee ... See more keywords
Dynamic Compliance Analysis for LHDS of Legged Robot, Part A: Position-Based Impedance Control
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Access"
DOI: 10.1109/access.2018.2875121
Abstract: In this paper, the dynamic compliance analysis for position-based impedance control is studied. First, the leg hydraulic drive system (LHDS) of legged robots is studied and the mathematical model of hydraulic drive unit (HDU) position… read more here.
Keywords: control; based impedance; impedance control; position based ... See more keywords
Force/Torque-Based Impedance Control With Perturbation Observer—Toward High Payload System Robust Trajectory Tracking
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3221535
Abstract: This paper presents a robust force/torque-based impedance control with a perturbation observer, particularly for high payload systems. One of the special cases of such systems is an assistive robot for paraplegics (ARP) with a sit-stand… read more here.
Keywords: payload; perturbation observer; impedance control; control ... See more keywords
Impedance Control Using a Cascaded Loop Force Control
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2018.2801472
Abstract: In this letter, a cascaded loop force control is implemented on a robot while considering the flexibility of the force sensor connecting the end effector to the tool. A classical frequency approach using a bandwidth… read more here.
Keywords: impedance control; loop force; control; cascaded loop ... See more keywords
Robotic Threading from a Gel-like Substance Based on Impedance Control With Force Tracking
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3116697
Abstract: Gel-like matter is used extensively in a wide range of application fields including industrial applications such as the manufactory and assembly of garment and footwear products, soft macro/micro-robotics, medical diagnostics, and drug delivery. However, the… read more here.
Keywords: control; impedance; force; impedance control ... See more keywords
An optimal variable impedance control with consideration of the stability
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3141759
Abstract: This paper presents an approach to develop a variable impedance controller with considerations of the optimality and stability. Firstly, an original optimal variable law is designed via demonstration learning, through which the Gaussian mixture model/Gaussian… read more here.
Keywords: impedance control; control consideration; impedance; variable impedance ... See more keywords