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.
Journal ArticleDOI
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.
Journal ArticleDOI
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.
Journal ArticleDOI
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
On the Stability of Closed-Loop Inverse Kinematics Algorithms for Redundant Robots
Pietro Falco,Ciro Natale +1 more
TL;DR: The convergence analysis carried out in this paper in the discrete-time domain provides a method to find bounds on the gain of the closed-loop inverse kinematics algorithms in relation to the sampling time.
Proceedings ArticleDOI
Human arm impedance: Characterization and modeling in 3D space
TL;DR: A method for estimating upper limb impedance characteristics in the three-dimensional (3D) space, covering a wide range of the arm workspace, and identifying the end-point dynamic behavior was modeled using a linear second-order system.
Journal ArticleDOI
On control of reaching movements for musculo-skeletal redundant arm model
TL;DR: In this article, a dynamic sensory-motor control mechanism of reaching movements for a musculo-skeletal redundant arm model is presented, in which the end point of the arm converges to the desired point with a simple task space feedback when adequate internal forces are chosen, regardless of the redundancy of the joint.
Proceedings ArticleDOI
Redundant inverse kinematics: Experimental comparative review and two enhancements
Adrià Colomé,Carme Torras +1 more
TL;DR: An IK algorithm is proposed that improves on the reviewed state-of-the-art methods, in terms of the good compromise it achieves between time step length, Jacobian conditioning, multiple task performance, and computational time, thus constituting a very solid option in practice.
Journal ArticleDOI
Exploitation of the Impedance and Characteristics of the Human Arm in the Design of Haptic Interfaces
Hyun Soo Woo,Doo Yong Lee +1 more
TL;DR: Experimental results show that the maximum achievable stiffness of the haptic system varies widely according to the degree of human arm impedance and is predictable more accurately using the newly derived passivity condition compared to the previous results in the literature.
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