A complete multiple reciprocity method (CMRM), usually employed for the eigenvalue analysis of Helmholtz equation, is applied to impedance calculation of 3D electric structures for multiple frequency points. Based on a recently proposed boundary integral formulations for impedance calculation, the CMRM is used to separate the boundary integrals into the frequency-dependent and frequency-indepen...

This paper proposes an impedance control method with impedance modulation strategy for biped robot locomotion. Both the constrained leg and the free leg are controlled by impedance control. The impedance parameters changes depending on the gait phase of the biped robot. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, the damping coeffici...

This paper presents a new adaptive impedance control strategy, based on Function Approximation Technique (FAT) to compensate for unknown non-flat environment shape or time-varying environment location. The target impedance in the force controllable direction is modified by incorporating adaptive compensators and the uncertainties are represented by FAT, allowing the update law to be derived eas...

The small-signal impedance modeling of modular multilevel converter (MMC) is the key for analyzing resonance and stability of MMC-based ac power electronics systems. MMC is a converter system with a typical multi-frequency response due to its significant steady-state harmonic components in the arm currents, capacitor voltages, and control signals. Therefore, traditional small-signal modeling me...

A large number of bilateral teleoperation control architectures in the literature have been designed based on assumed impedance models of the master and slave manipulators. However, hydraulic or heavily geared and many other manipulators cannot be properly described by impedance models. In this paper, a common four-channel bilateral control architecture designed for the above impedance models i...

Robots are finding new applications where physical interaction with a human is necessary: manufacturing, healthcare, and social tasks. Accordingly, the field of physical humanrobot interaction (pHRI) has leveraged impedance control approaches, which support compliant interactions between human and robot. However, a limitation of traditional impedance control is that—despite provisions for the h...

In this paper a framework for connecting system identi cation and robust control design via a factorization approach is being introduced. Within the scope of this framework, models are represented in an estimated set of models that is used subsequently to design a robust performing controller. The set of models is structured by means of a nominal coprime factorization along with an allowable pe...

The first derivative thoracic impedance cardiogram, phonocardiogram, and electrocardiogram were recorded in three groups of 22 subjects each. In Group 1 (control), simultaneous impedance cardiogram, phonocardiogram, and aortic valve echocardiograms showed that the X point of the impedance cardiogram occurred synchronously with the aortic second heart sound and with echocardiographic aortic valv...

Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing nested control systems is to maximize the bandwidth of the inner loop to improve tracking performance, it may not be the most suitable approach when a certain ...