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|Title:||Adaptive impedance control for natural human-robot collaboration|
|Source:||Li, Y.,Ge, S.S.,Tee, K.P. (2012). Adaptive impedance control for natural human-robot collaboration. Proceedings - WASA 2012: Workshop at SIGGRAPH Asia 2012 : 91-96. ScholarBank@NUS Repository. https://doi.org/10.1145/2425296.2425313|
|Abstract:||In this paper, adaptive impedance control is developed for natural human-robot collaboration. In order to make the robot collaborate with its human partner efficiently, neural networks are employed to estimate the unknown desired trajectory of the human partner and zero force tracking is achieved under impedance control. The control performance of the collaboration system are discussed through the rigorous analysis. The validity of the proposed method is verified through simulation studies. © 2012 ACM.|
|Source Title:||Proceedings - WASA 2012: Workshop at SIGGRAPH Asia 2012|
|Appears in Collections:||Staff Publications|
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