Abstract
This paper described a novel variable impedance control that include a stiffness coefficient for the human-robot cooperation. This control method changes not only a damping coefficient but also stiffness coefficient according to a process of tasks. For example, when a human positions an object nearby an environment with the purpose of installing it at the environment, the stiffness characteristic is helpful for avoiding a collision between the robot and environment and easy installation. A cooperative task to carry the object nearby the environment and then hold it close to the environment was performed to confirm the usefulness of the proposed control strategy. Experimental results show that the variable impedance control with stiffness is suitable for not only carrying and positioning tasks, but also various tasks which are contacting with the environment.
| Original language | English |
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| Title of host publication | ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1231-1233 |
| Number of pages | 3 |
| ISBN (Print) | 9788993215090 |
| DOIs | |
| Publication status | Published - 2015 Dec 23 |
| Event | 15th International Conference on Control, Automation and Systems, ICCAS 2015 - Busan, Korea, Republic of Duration: 2015 Oct 13 → 2015 Oct 16 |
Other
| Other | 15th International Conference on Control, Automation and Systems, ICCAS 2015 |
|---|---|
| Country/Territory | Korea, Republic of |
| City | Busan |
| Period | 15/10/13 → 15/10/16 |
Keywords
- Classification of tasks
- Human-robot cooperation
- Variable impedance control with stiffness
ASJC Scopus subject areas
- Control and Systems Engineering