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|Title:||Impedance control for multi-point human-robot interaction|
|Citation:||Li, Y.,Ge, S.S.,Yang, C. (2011). Impedance control for multi-point human-robot interaction. ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings : 1187-1192. ScholarBank@NUS Repository.|
|Abstract:||In this paper, impedance control is discussed for multi-point human-robot interaction. The impedance parameters at each interaction point are obtained by taking the environment dynamics into consideration. An optimization method is proposed to deal with the over-constrained problem along with the multipoint interaction control. The desired impedance model in the joint space is accordingly developed. A model-free control method is utilized to guarantee the robot dynamics governed by the desired model. The validity of the proposed methods is verified through simulation. © 2011 Asian Control Association.|
|Source Title:||ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings|
|Appears in Collections:||Staff Publications|
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