It is widely recognised that compliant actuation is advantageous to robot control once high-performance, explosive tasks, such as throwing, hitting or jumping are considered. However, the benefit of intrinsic compliance comes with high control complexity. Specifically, coordinating the motion of the system through a compliant actuator and finding a task-specific impedance profile that leads to ...

Abstract In order to approach the performance of biological locomotion in legged robots, better integration between body design and control is required. that respect, understanding mechanics human will help us build robots with comparable efficient performance. From another perspective, developing bioinspired can also improve our locomotion. this work, we create a robot blended physical virtual...

A control law combining motion performance quality and low stiffness reaction to unintended contacts is proposed in this work. It achieves prescribed performance evolution of the position error under disturbances up to a level related to model uncertainties and responds compliantly and with low stiffness to significant disturbances arising from impact forces. The controller employs a velocity r...

A multi-sensory discrete-continuous control concept has been developed to realize interactive basic skills for humanoid and mobile service robots. In the upper hierarchy level a discrete task control structure enables the flexible execution of primitive skill sequences. In the lower continuous level a suitable controller is chosen with control parameters adapted to the current primitive skill. ...

In this paper, we propose a decentralized control system of multiple mobile robots transporting a single object in coordination without using force/torque sensors. In this system, each robot is controlled as if it has a specified impedance dynamics without using a force/torque sensor. The robots transport an object in coordination using a leader-follower type control algorithm. The effect of pa...

For stabilization of a robot manipulator upon collision with a stiff environment, a nonlinear bang-bang impact controller is developed. Under this control, a robot can successfully achieve contact tasks without changing control algorithm or controller gains throughout all three modes: free space, transition and constrained motion. It uses a robust hybrid impedance/time-delay control algorithm t...

RATIONALE Spasticity is a major complication after stroke, and botulinumtoxin A (BoNT-A) injection is commonly used to manage focal spasticity. However, it is uncertain whether BoNT-A can improve voluntary motor control or activities of daily living function of paretic upper limbs. This study investigated whether BoNT-A injection combined with robot-assisted upper limb therapy improves voluntar...

A novel low-cost impedance control structure is proposed for monitoring the contact force between end-effector and environment without installing an expensive force/torque sensor. Theoretically, the end-effector contact force can be estimated from the superposition of each joint control torque. There have a nonlinear matrix mapping function between each joint motor control input and end-effecto...