Related papers: Passive Variable Impedance For Shared Control
We introduce a sample-efficient method for learning state-dependent stiffness control policies for dexterous manipulation. The ability to control stiffness facilitates safe and reliable manipulation by providing compliance and robustness to…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
In this paper we focus on the following problem in multi-fingered robotic grasping: assuming that an external wrench is being applied to a grasped object, will the contact forces between the hand and the object, as well as the hand joints,…
Dynamical systems (DSs) provide a framework for high flexibility, robustness, and control reliability and are widely used in motion planning and physical human-robot interaction. The properties of the DS directly determine the robot's…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
Impedance control and specifically stiffness control are widely applied for physical human-robot interaction. The series elastic actuator (SEA) provides inherent compliance, safety and further benefits. This paper aims to improve the…
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…
Torque-controlled actuators are critical components in mechatronic systems that closely interact with their environment, such as legged robots, collaborative manipulators, and exoskeletons. The performance and stability of these actuators…
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…
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:…
This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful…
Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and…
Conventional passivity-based torque controllers for manipulators are typically unconstrained, which can lead to safety violations under external perturbations. In this paper, we employ viability theory to pre-compute safe sets in the…
Semi-active vibration reduction techniques are defined as techniques in which controlled actions do not operate directly on the system's degrees of freedom (as in the case of active vibration control) but on the system's parameters, i.e.,…
Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically…
In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated environments, robots must comply with external physical…
This paper proposes a decentralized passive impedance control scheme for collaborative grasping using under-actuated aerial manipulators (AMs). The AM system is formulated, using a proper coordinate transformation, as an inertially…
This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…