There are two main categories of force control schemes: hybrid position‐force control and
impedance control. However, the former does not take into account the dynamic interaction …

This paper describes a general passivity-based framework for the control of flexible joint
robots. Recent results on torque, position, as well as impedance control of flexible joint …

In challenging robotic tasks, high-bandwidth closed-loop control performance of the system
is required for successful task completion. One of the most critical factors inhibiting the wide …

This paper addresses the control problem of hydraulic robot manipulators. The backstepping
design methodology is adopted to develop a novel nonlinear position tracking controller …

Driven by the need to achieve superior control performances for robots with hyper degrees
of freedom, the virtual decomposition control approach is thoroughly presented in this book …

In addition to high-precision closed-loop control performance, energy efficiency is another
vital characteristic in field-robotic hydraulic systems as energy source (s) must be carried on …

A systematic solution to precision control of modular robot manipulators without using joint
torque sensing is presented in this paper for the first time. Using the virtual decomposition …

An adaptive output force control scheme for hydraulic cylinders is proposed by using direct
output force measurement through loadcells. Due to the large and somewhat uncertain …

Knowledge of velocity is crucial to certain industrial applications involving high-bandwidth
modeling and control. In conventional approaches, the velocities obtained from encoders or …

This paper presents two rehabilitation schemes for patients with upper limb impairments.
The first is an active-assistive scheme based on the trajectory tracking of predefined paths in …