Journal ArticleDOI
Robust control of dynamically interacting systems
J.E. Colgate,Neville Hogan +1 more
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This paper describes an approach to the design of ‘interaction controllers’ and contrasts this with an Approach to the Design of Approaches toDynamic interaction with the environment is fundamental to the process of manipulation.Abstract:
Dynamic interaction with the environment is fundamental to the process of manipulation. This paper describes an approach to the design of ‘interaction controllers’ and contrasts this with an approa...read more
Citations
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Journal ArticleDOI
Operator Dynamics Consideration for Less Conservative Coupled Stability Condition in Bilateral Teleoperation
TL;DR: In this article, the effect of human operator dynamics on the coupled stability by incorporating the operator dynamics in the master-slave network is analyzed. And the proposed coupled stability analysis method can be utilized to design stabilizing controllers for enhanced transparency, given a priori knowledge or online estimate of human operators damping.
Journal ArticleDOI
Intelligent Impedance Control using Wavelet Neural Network for dynamic contact force tracking in unknown varying environments
TL;DR: The IIC-WNN is introduced as a noble adaptive variable impedance approach to enhance the efficiency of tracking the desired force and interaction with varying unknown environment.
Book ChapterDOI
Control of Physical Contact and Dynamic Interaction
Ernest D. Fasse,Neville Hogan +1 more
TL;DR: The dynamics of physical contact are likely to become more prominent as newer robot designs permit relatively larger payloads and robots are applied to tasks requiring more precise control of mechanical interaction, e.g., applications involving intimate physical interaction with humans such as haptic virtual environments or personal-care robots.
Journal ArticleDOI
Design and control of a compliant parallel manipulator
Thomas G. Sugar,R. Vijay Kumar +1 more
TL;DR: A novel design for a compliant arm that can be mounted on a mobile robot and the main features are the in-parallel architecture and a novel control scheme that allows to easily control the Cartesian stiffness or impedance in the plane.
Journal ArticleDOI
A Survey on Biofeedback and Actuation in Wireless Body Area Networks (WBANs)
TL;DR: The main aim of this paper is to review the current state of biofeedback and actuation technology on WBANs in terms of its structure, applications, benefits, and control approaches.
References
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Book
Linear Optimal Control Systems
Huibert Kwakernaak,Raphael Sivan +1 more
TL;DR: In this article, the authors provide an excellent introduction to feedback control system design, including a theoretical approach that captures the essential issues and can be applied to a wide range of practical problems.
Book
Introduction to physical system dynamics
R. Robert Rosenberg,Dean Karnopp +1 more
TL;DR: The SYSKIT is a linear system software toolkit that contains a highly integrated set of programs with applications to system dynamics, controls and vibrations.
Dissertation
Practical robustness measures in multivariable control system analysis
TL;DR: A very general robustness theorem is presented from which all of the robustness tests dealing with specific model errors may be derived and are able to guarantee feedback system stability in the face of model errors of larger magnitude.
Dissertation
Stability robustness of impedance controlled manipulators coupled to passive environments
TL;DR: Thesis. as discussed by the authors, Mass. Institute of Technology, Dept. of Mechanical Engineering, Boston, Massachusetts, U.S.A. (M.S., 1987).
Practical robustness measures in multivariable control system analysis. Ph.D. Thesis
TL;DR: In this paper, the robustness of linear time invariant feedback control systems with respect to model uncertainty is considered using frequency domain criteria, and robustness tests are unified under a common framework based on the nature and structure of model errors.