Abstract:
This survey presents the state of the art of basic compliant control algorithms in a unified view of past and present literature. Compliant control is fundamental when de...Show MoreMetadata
Abstract:
This survey presents the state of the art of basic compliant control algorithms in a unified view of past and present literature. Compliant control is fundamental when dealing with unstructured environments, as in the case of human-robot interaction. This is because it implicitly controls the energy transfer to the environment, providing a safe interaction. In this review, we analyze solutions from traditional robotics, usually involving stiff joints, and recent literature to find common control concepts and differences. To this aim, we bring back every schemas and relative mathematics formulation to a common and simplified scenario. Then, for each schema, we explain its intuitive meaning and report issues raised in the literature. We also propose an expansion of taxonomy to account for recent research.
Published in: IEEE/ASME Transactions on Mechatronics ( Volume: 21, Issue: 2, April 2016)
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Impedance ,
- Admittance ,
- Joints ,
- Force ,
- Robots ,
- Force control ,
- Actuators
- Index Terms
- Robot Control ,
- Compliance Control ,
- Joint Stiffness ,
- Simple Scenario ,
- Human-robot Interaction ,
- Traditional Robots ,
- Positive Control ,
- High Resistance ,
- Inertia ,
- Dynamical ,
- Stability Of System ,
- External Force ,
- Softening ,
- Outer Loop ,
- High Bandwidth ,
- Shape Memory ,
- Force Control ,
- Soft Robots ,
- Memory Alloys ,
- Impedance Control ,
- Shape Memory Polymers ,
- Soft Joint ,
- Outer Control ,
- Mechanical Compliance ,
- Mechanical Impedance ,
- Position Feedback ,
- High Force ,
- Static Conditions ,
- Maximum Stiffness
- Author Keywords
- Author Free Keywords
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Impedance ,
- Admittance ,
- Joints ,
- Force ,
- Robots ,
- Force control ,
- Actuators
- Index Terms
- Robot Control ,
- Compliance Control ,
- Joint Stiffness ,
- Simple Scenario ,
- Human-robot Interaction ,
- Traditional Robots ,
- Positive Control ,
- High Resistance ,
- Inertia ,
- Dynamical ,
- Stability Of System ,
- External Force ,
- Softening ,
- Outer Loop ,
- High Bandwidth ,
- Shape Memory ,
- Force Control ,
- Soft Robots ,
- Memory Alloys ,
- Impedance Control ,
- Shape Memory Polymers ,
- Soft Joint ,
- Outer Control ,
- Mechanical Compliance ,
- Mechanical Impedance ,
- Position Feedback ,
- High Force ,
- Static Conditions ,
- Maximum Stiffness
- Author Keywords
- Author Free Keywords