Related papers: Passivity guaranteed stiffness control with multip…
Purpose: This paper presents an impedance control method with mixed $H_2/H_\infty$ synthesis and relaxed passivity for a cable-driven series elastic actuator to be applied for physical human-robot interaction. Design/methodology/approach:…
Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain…
Series elastic actuators (SEAs) are growingly important in physical human-robot interaction (HRI) due to their inherent safety and compliance. Cable-driven SEAs also allow flexible installation and remote torque transmission, etc. However,…
Most impedance control schemes in robotics implement a desired passive impedance, allowing for stable interaction between the controlled robot and the environment. However, there is little guidance on the selection of the desired impedance.…
Series Elastic Actuation (SEA) has become prevalent in applications involving physical human-robot interaction as it provides considerable advantages over traditional stiff actuators in terms of stability robustness and fidelity of force…
Robotic systems are increasingly relying on distributed feedback controllers to tackle complex and latency-prone sensing and decision problems. These demands come at the cost of a growing computational burden and, as a result, larger…
When humans physically interact with robots, we need the robots to be both safe and performant. Series elastic actuators (SEAs) fundamentally advance safety by introducing compliant actuation. On the one hand, adding a spring mitigates the…
This paper expounds the design and control of a new Variable Stiffness Series Elastic Actuator (VSSEA). It is established by employing a modular mechanical design approach that allows us to effectively optimise the stiffness modulation…
Series Elastic Actuation (SEA) is a widely-used approach for interaction control, as it enables high fidelity and robust force control, improving the safety of physical human-robot interaction (pHRI). Safety is an imperative design…
Series elastic actuators (SEA) with their inherent compliance offer a safe torque source for robots that are interacting with various environments, including humans. These applications have high requirements for the SEA torque controllers,…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cable-driven SEA. First, the scheme of the cable-driven SEA has…
Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the usages of passive, compliant…
In robotic applications, actuators are typically designed to be stiff with minimal backlash to ensure precision and repeatability. However, this limits compliance, leading to potential damage and poor force control in uncertain…
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
The use of the Series Elastic Actuator (SEA) system as an actuator system equipped with a compliant element has contributed not only to advances in human interacting robots but also to a wide range of improvements in the robotics area.…
Variable impedance actuators (VIAs) as tool devices for teleoperation could extend the range of tasks that humans can perform through a teleoperated robot by mimicking the change of upper limb stiffness that humans perform for different…
This paper presents a robust position controller for electric power assisted steering and steer-by-wire force-feedback systems. A position controller is required in steering systems for haptic feedback control, advanced driver assistance…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…