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.
Journal ArticleDOI
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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Proceedings ArticleDOI
Kinematic analysis and synthesis of the human arm motion during a manipulation task
TL;DR: A kinematic experimental approach to study and synthesize the motion of the human arm and a simple, yet accurate, method for human-like redundancy resolution in robotic manipulators is developed and verified.
Proceedings ArticleDOI
Experimental Study on Reaching Movements of Robot Arms with Redundant DOFs Based upon Virtual Spring-Damper Hypothesis
Masahiro Sekimoto,Suguru Arimoto +1 more
TL;DR: It is shown that virtual damping effects in task space play an important rule in making endpoint trajectories of the robot arm quasi-straight and the control signal can easily generate human-like multi-joint movements of robot arms without spending a huge amount of computational cost.
Proceedings ArticleDOI
Optimal redundancy resolution with task scaling under hard bounds in the robot joint space
TL;DR: This work presents an optimal differential kinematic inversion method in the presence of hard bounds on joint range, joint velocity, and joint acceleration, and recast the problem as a constrained quadratic programming (QP) problem, in which the joint velocity norm as well as the task scaling are to be minimized.
Proceedings ArticleDOI
Planning safe cyclic motions under repetitive task constraints
TL;DR: A novel control-based randomized planner which produces cyclic, collision-free paths in configuration space and guarantees continuous satisfaction of the task constraints is presented.
Proceedings ArticleDOI
On rolling contact motion by robotic fingers via prescribed performance control
Zoe Doulgeri,Leonidas Droukas +1 more
TL;DR: The problem of controlling a robotic fingertip for contact rolling is addressed via the generation of a rolling motion trajectory and the application of a prescribed performance controller that can guarantee contact maintenance and a predefined fast convergence of the rolling tracking error to zero under any contact conditions.
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