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
Task-Space Framework for Bilateral Teleoperation With Time Delays
Hanlei Wang,Yongchun Xie +1 more
TL;DR: In this article, a task-space control framework for bilateral teleoperation with communication time delays is proposed. But the authors focus on the delay-robust control schemes to achieve master-slave position/orientation synchronization.
Book ChapterDOI
Considering Limb Impedance in the Design and Control of Prosthetic Devices
Eric J. Perreault,Eric J. Perreault,Levi J. Hargrove,Levi J. Hargrove,Daniel Ludvig,Daniel Ludvig,Hyunglae Lee,Hyunglae Lee,Jon Sensinger,Jon Sensinger +9 more
TL;DR: The premise of this chapter is that designing prosthetic limbs capable of replicating the essential functions endowed by impedance control would lead to more natural and capable devices.
Journal ArticleDOI
Development of a Two-Axis Robotic Platform for the Characterization of Two-Dimensional Ankle Mechanics
Varun Nalam,Hyunglae Lee +1 more
TL;DR: A two-axis robotic platform developed for the characterization of important neuromechanical properties of the human ankle, namely mechanical impedance and energetic passivity, which is capable of simulating a wide range of mechanical (haptic) environments as well as applying precisely controlled perturbations to the ankle in 2 degrees-of-freedom (DOF) spanning both the sagittal and frontal planes.
Journal ArticleDOI
Contact stability analysis of a one degree-of-freedom robot
B. Brogliato,P. Orhant +1 more
TL;DR: In this paper, conditions on the feedback gains that guarantee quadratic Lyapunov stability of a simple robotic task with a well-conditioned solution to the Lipschitz equation were examined.
Journal ArticleDOI
A neural network-based classification of environment dynamics models for compliant control of manipulation robots
Dusko Katic,Miomir Vukobratović +1 more
TL;DR: Convergence process is improved by using evolutionary approach (genetic algorithms) in order to choose the optimal topology of the proposed multilayer perceptron.
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.