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Fuzzy-Neural Impedance Control for Robots
In conventional impedance control, the difficulties encountered in obtaining an exact system dynamic model and selecting its impedance parameters...
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Impedance Analysis of Digital Control Based DC–DC Converter for Both Single and Dual Control Loop
This paper analyzes the closed-loop input and output impedances of the digital control based DC–DC converter for both single and dual control loop....
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A Novel Impedance Control Based on Equivalent Stiffness for Hydraulic Single-leg Robot
This paper presents a proposed strategy for improving the position-tracking accuracy of force-based impedance control in hydraulic single-leg robots....
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Nonlinear impedance control with trajectory adaptation for collaborative robotic grinding
Stiffness adjustment is an important feature of human arm control. The adaptive variable impedance control can adapt to the robotic stiffness, but...
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Robust sliding mode impedance control of manipulators for complex force-controlled operations
The multi-source uncertainties in complex force control operation scenarios will seriously affect the force control accuracy and operation quality of...
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Research on optimization of human-machine interaction control strategy for exoskeleton based on impedance control
This work proposes an optimized human-machine interaction control strategy for exoskeleton based on traditional impedance control. The traditional...
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Adaptive impedance control for the hydraulic manipulator under the uncertain environment
The contact control of the n -DOF hydraulic manipulators is challenged by the uncertain environment with unknown stiffness and location. Only by a...
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Impedance Control Analysis for Legged Locomotion in Oscillating Ground
The versatility of legged robots makes them essential for many inspection applications. However, these robots face significant stability challenges...
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Intelligent Virtual Impedance Based Control to Enhance the Stability of Islanded Microgrid
This paper focuses on the voltage stability issue of an islanded microgrid in a cost-effective way adding the concept of adaptive virtual impedance....
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Stability analysis and improved control of voltage source converters based on impedance models in weak grids
With the continuous development of renewable energy generation, traditional power grids will gradually transform into weak grids. In recent years,...
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Autonomous Load Current Sharing Control Strategy for Distributed DC Micro-sources Based on Active Frequency Injection and Line Impedance Compensation Control
Traditional droop control methods are difficult to achieve accurate and autonomous current sharing between micro-source converters in DC microgrid,...
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Configuration and Force-field Aware Variable Impedance Control with Faster Re-learning
Variable impedance control (VIC) is rapidly becoming an important ingredient for robotic manipulation in unstructured and uncertain environments. In...
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Variable Impedance Control for a Single Leg of a Quadruped Robot Based on Contact Force Estimation
A quadruped robot interacts with the ground during the stance phase. This interaction will have a great impact on the feet, torso and joints of the...
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An adaptive impedance control method for blade polishing based on the Kalman filter
Robotic force control is crucial for precise polishing and has a significant influence on the final effects. The blade has a free-form surface in...
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Interpolating across the impedance/admittance spectrum with Unified Interaction Control
Impedance Control (IC) and Admittance control (AC) are two control methods for robot-environment interaction which have opposing performance and...
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Distributed Reactive Power Control Scheme for Parallel Inverters Based on Virtual Impedance
Droop control is an important control strategy for microgrids with multiple inverters in parallel. Adding virtual impedance to droop control can...
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Hybrid impedance and admittance control of robot manipulator with unknown environment
This paper presents a novel impedance control strategy to improve the performance of a robot manipulator. Impedance control and admittance control...
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Dynamic Analysis and Impedance Control of a Novel Double-Driven Parallel Mechanism
This paper introduces the design, dynamic model, and impedance control of a novel five degrees of freedom (DOF) double-driven parallel mechanism...
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Research on fuzzy impedance force control technology of robot-assisted abrasive cloth wheel polishing blade
Industrial-robot assisted abrasive cloth wheel polishing blades aim to reduce surface roughness and improve machining consistency of blades. Since...
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Unknown system dynamics estimator-based impedance control for lower limb exoskeleton with enhanced performance
In this article, an unknown system dynamics estimator-based impedance control method is proposed for the lower limb exoskeleton to stimulate the...
