Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/83823
Title: Impedance control for multi-point human-robot interaction
Authors: Li, Y.
Ge, S.S. 
Yang, C.
Issue Date: 2011
Source: 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
URI: http://scholarbank.nus.edu.sg/handle/10635/83823
ISBN: 9788995605646
Appears in Collections:Staff Publications

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