FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2561627866> ?p ?o ?g. }

• W2561627866 abstract "Interaction control is a mature, but still, current area of research in robotics. Various approaches have been developed for passive and active force regulation and tracking, e.g. impedance control, direct force and hybrid force-position control. The latter method implements a force feedback outer loop on top of a position controller inner loop, where commands are issued with respect to a compliant frame. However, if the compliant frame undergoes a rigid transformation, e.g. in order to specify the same task relative to another reference frame, then commands can be rendered non-compliant with the task at hand. As a consequence, the robot can be damaged or hurt somebody, this is further aggravated by the rigidness of a position controller. In the present paper, we propose a unified impedance and hybrid force-position control scheme to address such issues. The unified controller benefits from the impedance control compliance while an explicit force value can be achieved. Furthermore, we augment the designed controller with a kinestatic filter, which ensures that the commanded pose and wrench are consistent with a given task model. We validate the designed system through experiments with a lightweight robot (LWR). The proposed approach finds applications in industrial settings where interactions with the environment are required in order to fulfill a task and the system must be robust w.r.t. input commands." @default.
• W2561627866 created "2017-01-06" @default.
• W2561627866 creator A5025418674 @default.
• W2561627866 creator A5055050119 @default.
• W2561627866 date "2016-10-01" @default.
• W2561627866 modified "2023-09-24" @default.
• W2561627866 title "Unified impedance and hybrid force-position controller with kinestatic filtering" @default.
• W2561627866 cites W1541925238 @default.
• W2561627866 cites W1885102516 @default.
• W2561627866 cites W1978023077 @default.
• W2561627866 cites W1979833411 @default.
• W2561627866 cites W1980232872 @default.
• W2561627866 cites W1988919123 @default.
• W2561627866 cites W2015776972 @default.
• W2561627866 cites W2016958754 @default.
• W2561627866 cites W2019938859 @default.
• W2561627866 cites W2077326740 @default.
• W2561627866 cites W2096372876 @default.
• W2561627866 cites W2105660272 @default.
• W2561627866 cites W2112474089 @default.
• W2561627866 cites W2126747268 @default.
• W2561627866 cites W2147497258 @default.
• W2561627866 cites W2148548256 @default.
• W2561627866 cites W2150024155 @default.
• W2561627866 cites W2162189406 @default.
• W2561627866 doi "https://doi.org/10.1109/iros.2016.7759516" @default.
• W2561627866 hasPublicationYear "2016" @default.
• W2561627866 type Work @default.
• W2561627866 sameAs 2561627866 @default.
• W2561627866 citedByCount "3" @default.
• W2561627866 countsByYear W25616278662022 @default.
• W2561627866 crossrefType "proceedings-article" @default.
• W2561627866 hasAuthorship W2561627866A5025418674 @default.
• W2561627866 hasAuthorship W2561627866A5055050119 @default.
• W2561627866 hasBestOaLocation W25616278662 @default.
• W2561627866 hasConcept C10138342 @default.
• W2561627866 hasConcept C119599485 @default.
• W2561627866 hasConcept C126042441 @default.
• W2561627866 hasConcept C127413603 @default.
• W2561627866 hasConcept C133731056 @default.
• W2561627866 hasConcept C154945302 @default.
• W2561627866 hasConcept C162324750 @default.
• W2561627866 hasConcept C172849965 @default.
• W2561627866 hasConcept C17829176 @default.
• W2561627866 hasConcept C198082294 @default.
• W2561627866 hasConcept C201995342 @default.
• W2561627866 hasConcept C203479927 @default.
• W2561627866 hasConcept C2775924081 @default.
• W2561627866 hasConcept C2777984285 @default.
• W2561627866 hasConcept C2780451532 @default.
• W2561627866 hasConcept C34413123 @default.
• W2561627866 hasConcept C41008148 @default.
• W2561627866 hasConcept C47446073 @default.
• W2561627866 hasConcept C58716799 @default.
• W2561627866 hasConcept C6557445 @default.
• W2561627866 hasConcept C76155785 @default.
• W2561627866 hasConcept C86803240 @default.
• W2561627866 hasConcept C90509273 @default.
• W2561627866 hasConceptScore W2561627866C10138342 @default.
• W2561627866 hasConceptScore W2561627866C119599485 @default.
• W2561627866 hasConceptScore W2561627866C126042441 @default.
• W2561627866 hasConceptScore W2561627866C127413603 @default.
• W2561627866 hasConceptScore W2561627866C133731056 @default.
• W2561627866 hasConceptScore W2561627866C154945302 @default.
• W2561627866 hasConceptScore W2561627866C162324750 @default.
• W2561627866 hasConceptScore W2561627866C172849965 @default.
• W2561627866 hasConceptScore W2561627866C17829176 @default.
• W2561627866 hasConceptScore W2561627866C198082294 @default.
• W2561627866 hasConceptScore W2561627866C201995342 @default.
• W2561627866 hasConceptScore W2561627866C203479927 @default.
• W2561627866 hasConceptScore W2561627866C2775924081 @default.
• W2561627866 hasConceptScore W2561627866C2777984285 @default.
• W2561627866 hasConceptScore W2561627866C2780451532 @default.
• W2561627866 hasConceptScore W2561627866C34413123 @default.
• W2561627866 hasConceptScore W2561627866C41008148 @default.
• W2561627866 hasConceptScore W2561627866C47446073 @default.
• W2561627866 hasConceptScore W2561627866C58716799 @default.
• W2561627866 hasConceptScore W2561627866C6557445 @default.
• W2561627866 hasConceptScore W2561627866C76155785 @default.
• W2561627866 hasConceptScore W2561627866C86803240 @default.
• W2561627866 hasConceptScore W2561627866C90509273 @default.
• W2561627866 hasLocation W25616278661 @default.
• W2561627866 hasLocation W25616278662 @default.
• W2561627866 hasOpenAccess W2561627866 @default.
• W2561627866 hasPrimaryLocation W25616278661 @default.
• W2561627866 hasRelatedWork W1500387900 @default.
• W2561627866 hasRelatedWork W1688017411 @default.
• W2561627866 hasRelatedWork W1972500617 @default.
• W2561627866 hasRelatedWork W2008954865 @default.
• W2561627866 hasRelatedWork W2035762376 @default.
• W2561627866 hasRelatedWork W2105433231 @default.
• W2561627866 hasRelatedWork W2140371337 @default.
• W2561627866 hasRelatedWork W2145531833 @default.
• W2561627866 hasRelatedWork W2155531984 @default.
• W2561627866 hasRelatedWork W2168933883 @default.
• W2561627866 hasRelatedWork W2269913138 @default.
• W2561627866 hasRelatedWork W2322595306 @default.
• W2561627866 hasRelatedWork W2361107376 @default.
• W2561627866 hasRelatedWork W2417621288 @default.
• W2561627866 hasRelatedWork W2752400335 @default.

• next