Abstract
Variable Impedance control allows robots and hu-mans to safely and efficiently interact with unknown externalenvironments. This abstract introduces online impedance adap-tation control (OIAC) for variable compliant joint motions ina range of control tasks: rapid (< 1s) movement control (i.e.,whipping to hit [1]), arm and finger impedance quantification [2],multifunctional exoskeleton control [3], and robot-inspired hu-man arm control hypothesis [4]. The OIAC has been introducedas feedback control, which can be integrated into feedforwardcontrol models. This integration facilitates the understanding ofhuman and robot arm control, closing a research loop betweenrobots and humans. It contributes to ERF2023 by providingan online impedance adaptation controller for human-robotcollaboration control which can be beneficial in robotic andbiomechanical research.
| Original language | English |
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| Publication date | 2023 |
| Publication status | Published - 2023 |
| Event | European Robotics Forum 2023 - ODEON, Odense, Denmark Duration: 14. Mar 2023 → 16. Mar 2023 https://erf2023.sdu.dk/ https://erf2023.eu/ |
Conference
| Conference | European Robotics Forum 2023 |
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| Location | ODEON |
| Country/Territory | Denmark |
| City | Odense |
| Period | 14/03/2023 → 16/03/2023 |
| Internet address |
Keywords
- Adaptive control
- variable impedance control
- biorobotics
- Biomechanics