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• W1990281946 abstract "A deformation-tracking impedance control strategy is discussed for applications where a manipulator interacts with environments of unknown geometrical and mechanical properties, especially with stiffness comparable to a controlled robot stiffness. Based on force-tracking impedance controls, the deformation-tracking strategy allows the control of a desired deformation of the target environment, requiring the on-line estimation of the environment stiffness. An Extended Kalman Filter is used for the estimation of the environment because of measurement uncertainties and errors in compound interaction model. The tasks presented involve full body spatial interactions with a time-varying environment stiffness. The Extended Kalman Filter and the deformation-tracking impedance control are validated in simulation and with experiments. In particular, a cooperative assembly task is also performed with a human operator acting as varying environment, i.e. unpredictably changing the handling arm stiffness." @default.
• W1990281946 created "2016-06-24" @default.
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• W1990281946 date "2013-11-01" @default.
• W1990281946 modified "2023-10-06" @default.
• W1990281946 title "Deformation-tracking impedance control in interaction with uncertain environments" @default.
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• W1990281946 doi "https://doi.org/10.1109/iros.2013.6696621" @default.
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