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TROB
2002
121views more  TROB 2002»
9 years 10 months ago
Adaptive force control of position/velocity controlled robots: theory and experiment
This paper addresses the problem of achieving exact dynamic force control with manipulators possessing the low-level position and/or velocity controllers typically employed in indu...
Jaydeep Roy, Louis L. Whitcomb
IJRR
2006
172views more  IJRR 2006»
9 years 10 months ago
A Haptic Teleoperation Approach Based on Contact Force Control
This paper presents a new teleoperation approach using a virtual spring, and local contact force control on the slave robot. The operational space framework provides the control s...
Jaeheung Park, Oussama Khatib
KES
1999
Springer
10 years 2 months ago
Position-based impedance control using a fuzzy compensator
In this paper, a position-based impedance control with a fuzzy compensator is proposed to improve a force control performance, in which the environment has unknown dynamics or cur...
Fusaomi Nagata, Keigo Watanabe, Kiyotaka Izumi
ICRA
2000
IEEE
83views Robotics» more  ICRA 2000»
10 years 2 months ago
Force Controllable Hydro-Elastic Actuator
— We present a hydro-elastic actuator that has a linear spring intentionally placed in series between the hydraulic piston and actuator output. The spring strain is measured to g...
David W. Robinson, Gill A. Pratt
ICRA
2005
IEEE
139views Robotics» more  ICRA 2005»
10 years 4 months ago
Decentralized Collaborative Load Transport by Multiple Robots
Abstract— With the rapid progress of the robotic technology, it is becoming increasingly common to have multiple robots working together for material transport, cooperative assem...
Gustavo Montemayor, John T. Wen
IROS
2006
IEEE
97views Robotics» more  IROS 2006»
10 years 4 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
ICRA
2008
IEEE
138views Robotics» more  ICRA 2008»
10 years 5 months ago
Fingertip force control with embedded fiber Bragg grating sensors
— We describe the dynamic testing and control results obtained with an exoskeletal robot finger with embedded fiber optical sensors. The finger is inspired by the designs of a...
Yong-Lae Park, Seok Chang Ryu, Richard J. Black, B...
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