149 search results - page 1 / 30 » Robot Perception of Environment Impedance |
ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
— This paper proposes a novel identification technique of constraint condition that the environment imposes on the robot’s end-effector, based on position and force sensing d...
ICRA
2003
IEEE
13 years 9 months ago
2003
IEEE
— When the end-effector of a robot is slid on a flat surface, the stiffness matrix obtained by linear fitting of position and force contains information not only on the stiffne...
ROBIO
2006
IEEE
13 years 10 months ago
2006
IEEE
– In this paper, a model-based impedance control strategy is developed for a 3 DOF parallel manipulator to manage the interaction of the robot with the environment. Kinematic and...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— In this paper, an approach to interaction control of a robot manipulator with a partially known environment is proposed. The environment is a rigid object of known geometry but...
ISER
1997
Springer
13 years 8 months ago
1997
Springer
: A position-based impedance controller has been implemented on a mini-excavator. Its performance and an approach to evaluate its stability robustness for given environment impedan...