Journal ArticleDOI
Reaching for redundant arms with human-like motion and compliance properties
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TLDR
A novel controller for target reaching of redundant arms without trajectory planning, guaranteeing desired completion time and accuracy requirements without the need for trajectory planning and prior knowledge of robot dynamics is proposed.About:
This article is published in Robotics and Autonomous Systems.The article was published on 2014-12-01. It has received 21 citations till now. The article focuses on the topics: Control theory.read more
Citations
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Journal ArticleDOI
Prescribed Performance Tracking of a Variable Stiffness Actuated Robot
TL;DR: A state feedback control scheme for variable stiffness actuated (VSA) robots, which guarantees prescribed performance of the tracking errors despite the low range of mechanical stiffness, is proposed.
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An Incremental Learning Framework for Human-Like Redundancy Optimization of Anthropomorphic Manipulators
TL;DR: Wang et al. as mentioned in this paper applied the swivel motion reconstruction approach to imitate human-like behavior using the kinematic mapping in robot redundancy, and proposed a novel incremental learning framework that combines an incremental learning approach with a deep convolutional neural network for fast and efficient learning.
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Kinematic control of redundant robots with guaranteed joint limit avoidance
TL;DR: A prescribed performance signal for joint limit avoidance guarantees is proposed that can be utilized with both planned and on-line generated trajectories and can act as a null space velocity for the primary task velocity mapping.
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An introductory review of active compliant control
TL;DR: A novel selection scheme is proposed, which facilitates the choice of appropriate control approaches for given requirements, particularly for newcoming researchers to the field.
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Deep Neural Network Approach in Human-Like Redundancy Optimization for Anthropomorphic Manipulators
TL;DR: A novel deep convolutional neural network (DCNN) structure for reconstruction enhancement and reducing online prediction time is proposed for managing redundancy control a 7 DoFs anthropomorphic robot arm (LWR4+, KUKA, Germany) for validation.
References
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Journal ArticleDOI
Posture control and trajectory formation during arm movement
TL;DR: The hypothesis that a desired joint position is determined by the ratio of the tensions of agonist and antagonist muscles is tested and it is concluded that the processes underlying trajectory formation must be more complex than a simple switch between one equilibrium position and another.
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Human hand impedance characteristics during maintained posture
TL;DR: The experimental results in different subjects and hand locations are summarized as follows: the estimated inertia matrices of the human hand well agrees with computed values using a twojoint arm model, and spatial variations of the stiffness ellipses are consistent with the experimental results of Mussa-Ivaldi et al. (1985).
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Modelling and Control of Robot Manipulators
TL;DR: In this article, the authors present the second edition of a textbook published in 1996 by McGraw Hill and originates from a graduate level course given by the authors at the University of Naples.
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Quantitative Safety Guarantees for Physical Human-Robot Interaction
TL;DR: A control scheme for robot manipulators is proposed that restricts the torque commands of a position control algorithm to values that comply to preset safety restrictions and limits the potential impact force of the robot in the case of a collision with a person.
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Stability Analysis for Prioritized Closed-Loop Inverse Kinematic Algorithms for Redundant Robotic Systems
TL;DR: Stability analysis of priority-based kinematic control algorithms for redundant robotic systems is approached by resorting to a Lyapunov-based stability discussion for several prioritized inverse kinematics algorithms, providing sufficient conditions for the control gains and the tasks' design for the regulation problem.
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