Fuzzy variable impedance control of space manipulator with unknown environmental stiffness identification
Sign Up to like & getrecommendations! Published in 2025 at "Advanced Robotics"
DOI: 10.1080/01691864.2025.2521090
Abstract: To accomplish interaction tasks in complex contact environments, space manipulators must rely on effective compliance control. However, in practical applications, the parameters of dynamic contact environment are difficult to be measured in real time, which… read more here.
Keywords: fuzzy variable; control; impedance control; identification ... 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
Ultrasound-Guided Assistive Robots for Scoliosis Assessment With Optimization-Based Control and Variable Impedance
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3186504
Abstract: Assistive robots for healthcare have witnessed a growing demand over the past decades. In this letter, we investigate the development of an optimization-based control framework with variable impedance for an assistive robot to perform ultrasound-guided… read more here.
Keywords: assistive robots; control; optimization based; variable impedance ... See more keywords
Learning Target-Directed Skill and Variable Impedance Control From Interactive Demonstrations for Robot-Assisted Soft Tissue Puncture Tasks
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2024.3418018
Abstract: A framework is proposed in this paper for learning variable impedance in percutaneous puncture surgery, with the aim of simplifying the robotic puncture of soft tissues. The framework involves simulating the dynamic changes that occur… read more here.
Keywords: puncture; control; robot; impedance control ... See more keywords
A Novel Variable Impedance PM Machines With Separated Fault Tolerant Ring
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DOI: 10.1109/tia.2024.3524201
Abstract: This paper aims to analyze and design a novel variable impedance permanent magnet (PM) machine with separated fault tolerant ring. The proposed topology automatically changes from low impedance to ultra-high impedance under turn-to-turn short-circuit without… read more here.
Keywords: impedance; tolerant ring; short circuit; variable impedance ... See more keywords
A Variable Impedance Skill Learning Algorithm Based on Kernelized Movement Primitives
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2023.3250746
Abstract: This article proposes a novel learning from demonstrations (LfD) method based on kernelized movement primitives (KMP). The original KMP algorithm is excellent at generalizing and handling high-dimensional inputs, but it is slightly inadequate in reproduction… read more here.
Keywords: movement primitives; variable impedance; based kernelized; kernelized movement ... See more keywords
Hierarchical Learning Based on Visual-Haptic Perception for Robotic Variable Impedance Control
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2025.3558080
Abstract: Dexterous manipulation in unstructured environments poses significant challenges due to the limitations of traditional robotic control methods, which often rely on precise kinematic and dynamic models with predefined behaviors, impeding adaptability and flexibility. This article… read more here.
Keywords: control; visual haptic; robotic variable; impedance control ... See more keywords
Robust Variable Impedance Control for Aerial Compliant Interaction With Stability Guarantee
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Transactions on Industrial Informatics"
DOI: 10.1109/tii.2023.3306574
Abstract: This article investigates a robust variable impedance control methodology for aerial manipulators to realize compliant and safe interaction tasks. Considering that the stability characteristics are generally overlooked in existing variable impedance controllers of the aerial… read more here.
Keywords: stability; impedance; impedance control; robust variable ... See more keywords