IEEE - Institute of Electrical and Electronics Engineers, Inc. - Variable impedance control with virtual stiffness for human-robot cooperative task (human-robot cooperative peg-in-hole task)

SICE 2002. Proceedings of the 41st SICE Annual Conference

Author(s): T. Tsumugiwa ; R. Yokogawa ; K. Hara
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2002
Conference Location: Osaka, Japan
Conference Date: 5 August 2002
Volume: 4
Page Count: 6
ISBN (Paper): 0-7803-7631-5
DOI: 10.1109/SICE.2002.1195769
Regular:

This paper presents a novel variable impedance control for a human-robot cooperative task. A proposed control has a virtual stiffness term that makes the cooperative positioning task easy and... View More

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