Stability and Variable Admittance Control in the Physical Interaction with a Mobile Robot
نویسندگان
چکیده
منابع مشابه
Walking Support and Power Assistance of a Wheelchair Typed Omnidirectional Mobile Robot with Admittance Control
Walking ability is essential for the elderly/the disabled’s self-supported daily life. Currently the development of various robotic aids or devices for helping the elderly’s walking has attracted many researcher’s attentions. Guidecane ((Ulrich & Borenstein, 2001)), PAM-AID ((Lacey & Dawson-Howe, 1998)), Care-O-bot ((Graf et al., 2004)), PAMM ((S. Dubowsky, 2000)), and etc, are developed for in...
متن کاملA Simplified Variable Admittance Controller Based on a Virtual Agonist-Antagonist Mechanism for Robot Joint Control
In this paper, we propose a simplified variable admittance controller applied to robot joint control. It is based on a virtual agonist-antagonist mechanism (VAAM) consisting of contractile and parallel elements (CEs and PEs). ”Virtual” here means that every joint physically actuated by a standard servo motor can produce variably compliant motions as if it were driven by a pair of agonist and an...
متن کاملLearning optimal variable admittance control for rotational motion in human-robot co-manipulation
In this paper the problem of variable admittance control in human-robot cooperation tasks is investigated, considering rotational motion of the robot’s end-effector. A Fuzzy Model Reference Learning algorithm is used to determine online the appropriate virtual damping of the admittance controller with partial state representation of the system. The learning algorithm is trained according to the...
متن کاملAn Admittance Glove Mechanism for Controlling a Mobile Robot
* Address all correspondence to this author. ABSTRACT This paper presents a bidirectional teleoperation admittance haptic glove (RML glove) which can be used to control mobile robots. The glove receives information from the environment and the internal status of the mobile robot, and generates a force feedback to the operator through the wireless module which in return communicates command sign...
متن کاملTowards a Mobile Manipulation Telepresence Robot for Remote Physical Interaction
This report introduces the ongoing collaborative effort to develop a framework for telepresence robots capable of remote physical interaction. The new system will improve homecare services by enabling professional operators to physically interact with patients or older adults to provide remote assistance. The available technology components required for the new framework are explained, and the ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2015
ISSN: 1729-8814
DOI: 10.5772/61313a