Cart (Loading....) | Create Account
Close category search window
 

Passive impedance control with time-varying impedance center

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Kishi, Y. ; Dept. of Electron.-Mech. Eng., Nagoya Univ., Japan ; Zhiwei Luo ; Asano, F. ; Hosoe, S.

Humans can perform skillful tasks adaptively and safely while interacting with uncertain dynamic environment. With respect to the adaptation ability, it was pointed out that impedance control could play a center role in the human motor control mechanism. Related with safety, it was reported in robotics that the arm's passivity as seen from its environment or manipulated object is very important. In this paper, we study the passivity of impedance control with time varying impedance center. We propose a novel energy-based control method to adjust the impedance center so that the robot arm can realize passive impedance. We verify the effectiveness of our approach by computer simulations.

Published in:

Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on  (Volume:3 )

Date of Conference:

16-20 July 2003

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.