Variable impedance control with stiffness for human-robot cooperation system

Jangho Bae, Jonghyeon Ko, Daehie Hong

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    4 Citations (Scopus)

    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 languageEnglish
    Title of host publicationICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages1231-1233
    Number of pages3
    ISBN (Print)9788993215090
    DOIs
    Publication statusPublished - 2015 Dec 23
    Event15th International Conference on Control, Automation and Systems, ICCAS 2015 - Busan, Korea, Republic of
    Duration: 2015 Oct 132015 Oct 16

    Other

    Other15th International Conference on Control, Automation and Systems, ICCAS 2015
    Country/TerritoryKorea, Republic of
    CityBusan
    Period15/10/1315/10/16

    Keywords

    • Classification of tasks
    • Human-robot cooperation
    • Variable impedance control with stiffness

    ASJC Scopus subject areas

    • Control and Systems Engineering

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