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» A New Method of Force Control for Unknown Environments
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IROS
2006
IEEE
97views Robotics» more  IROS 2006»
13 years 9 months ago
A New Method of Force Control for Unknown Environments
–We propose a new control technique for force control on unknown environments. In particular, the proposed approach overcomes the need for precise estimation of environment param...
Vishnu Mallapragada, Duygun Erol, Nilanjan Sarkar
ROBOCUP
2007
Springer
159views Robotics» more  ROBOCUP 2007»
13 years 9 months ago
High Accuracy Navigation in Unknown Environment Using Adaptive Control
Aiming to reduce cycle time and improving the accuracy on tracking, a modified adaptive control was developed, which adapts autonomously to changing dynamic parameters. The platfor...
Fernando Ribeiro, Ivo Moutinho, Nino Pereira, Fern...
ROBOTICA
2006
116views more  ROBOTICA 2006»
13 years 3 months ago
Hybrid velocity/force control for robot navigation in compliant unknown environments
We combine a "hybrid" force/position control scheme with a potential field approach into a novel method for collision recovery and navigation in unknown environments. It...
Dushyant Palejiya, Herbert G. Tanner
BC
2005
62views more  BC 2005»
13 years 3 months ago
Regularity in an environment produces an internal torque pattern for biped balance control
In this paper, we present a control method for achieving biped static balance under unknown periodic external forces whose periods are only known. In order to maintain static balan...
Satoshi Ito, Haruhisa Kawasaki
ICRA
2006
IEEE
124views Robotics» more  ICRA 2006»
13 years 9 months ago
Hybrid Vision-force Robot Control for Tasks on Unknown Smooth Surfaces
— This work considers a hybrid force and vision control system for robotic manipulators using a force sensor and a fixed uncalibrated camera. A method is proposed to combine dir...
Antonio C. Leite, Fernando C. Lizarralde, Liu Hsu