A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation

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A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation. / Song, Peng; Yu, Yueqing; Zhang, Xuping.

I: Robotica, Bind 37, Nr. 5, 05.2019, s. 801-836.

Publikation: Bidrag til tidsskrift/Konferencebidrag i tidsskrift /Bidrag til avisTidsskriftartikelForskningpeer review

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Song, Peng ; Yu, Yueqing ; Zhang, Xuping. / A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation. I: Robotica. 2019 ; Bind 37, Nr. 5. s. 801-836.

Bibtex

@article{45640b39888a4b34ad3075cb639a940d,
title = "A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation",
abstract = "There have been significant interests and efforts in the field of impedance control on robotic manipulation over last decades. Impedance control aims to achieve the desired mechanical interaction between the robotic equipment and its environment. This paper gives the overview and comparison of basic concepts and principles, implementation strategies, crucial techniques, and practical applications concerning the impedance control of robotic manipulation. This work attempts to serve as a tutorial to people outside the field and to promote discussion of a unified vision of impedance control within the field of robotic manipulation. The goal is to help readers quickly get into the problems of their interests related to impedance control of robotic manipulation and to provide guidance and insights in finding appropriate strategies and solutions.",
keywords = "Force control, Human-robot interaction, Impedance control, Interaction control, Robotic manipulation",
author = "Peng Song and Yueqing Yu and Xuping Zhang",
year = "2019",
month = may,
doi = "10.1017/S0263574718001339",
language = "English",
volume = "37",
pages = "801--836",
journal = "Robotica",
issn = "0263-5747",
publisher = "Cambridge University Press",
number = "5",

}

RIS

TY - JOUR

T1 - A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation

AU - Song, Peng

AU - Yu, Yueqing

AU - Zhang, Xuping

PY - 2019/5

Y1 - 2019/5

N2 - There have been significant interests and efforts in the field of impedance control on robotic manipulation over last decades. Impedance control aims to achieve the desired mechanical interaction between the robotic equipment and its environment. This paper gives the overview and comparison of basic concepts and principles, implementation strategies, crucial techniques, and practical applications concerning the impedance control of robotic manipulation. This work attempts to serve as a tutorial to people outside the field and to promote discussion of a unified vision of impedance control within the field of robotic manipulation. The goal is to help readers quickly get into the problems of their interests related to impedance control of robotic manipulation and to provide guidance and insights in finding appropriate strategies and solutions.

AB - There have been significant interests and efforts in the field of impedance control on robotic manipulation over last decades. Impedance control aims to achieve the desired mechanical interaction between the robotic equipment and its environment. This paper gives the overview and comparison of basic concepts and principles, implementation strategies, crucial techniques, and practical applications concerning the impedance control of robotic manipulation. This work attempts to serve as a tutorial to people outside the field and to promote discussion of a unified vision of impedance control within the field of robotic manipulation. The goal is to help readers quickly get into the problems of their interests related to impedance control of robotic manipulation and to provide guidance and insights in finding appropriate strategies and solutions.

KW - Force control

KW - Human-robot interaction

KW - Impedance control

KW - Interaction control

KW - Robotic manipulation

UR - http://www.scopus.com/inward/record.url?scp=85060809943&partnerID=8YFLogxK

U2 - 10.1017/S0263574718001339

DO - 10.1017/S0263574718001339

M3 - Journal article

AN - SCOPUS:85060809943

VL - 37

SP - 801

EP - 836

JO - Robotica

JF - Robotica

SN - 0263-5747

IS - 5

ER -