There have been numerous studies on the physical human-robot cooperative task system
with impedance/admittance control in robot motion control. However, the problem of stability …

Purpose This paper aims to present a smooth transition adaptive hybrid impedance control
for compliant connector assembly. Design/methodology/approach The dynamics of the …

Impedance control offers a theoretical basis for safe interaction between a robot and the
environment, but model uncertainty, disturbances and actuation dynamics can compromise …

dissertation copies are in typewriter face, while others may be from any Page 1 INFORMATION
TO USERS The most advanced technology has been used to photograph and reproduce this …

This paper presents a weighted path planning approach for a light weight robot coming into
compliant contact with the environment, as well as robot-environment interaction enabled …

To control a robot performing cooperative work between a human and robot, not only the
position but also the force must be controlled from the viewpoint of human–robot contact. In …

This study focuses on investigating an adaptive impedance control strategy for facilitating
human-robot collaborative tasks. Traditional impedance control methods may lead to …

In the present paper, the objective of hybrid impedance control is specified and a robust
hybrid impedance control approach is proposed. Based on the concept of hybrid control, the …

본 논문은 고자유도의 로봇에 대한 강인한 임피던스제어를 제안한다. 자유도가 높은 로봇에
대해서 동특성기반으로 제어하기 위해서는 해석적인 로봇의 동특성확보가 거의 불가능하기 …