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https://scholarbank.nus.edu.sg/handle/10635/83823
DC Field | Value | |
---|---|---|
dc.title | Impedance control for multi-point human-robot interaction | |
dc.contributor.author | Li, Y. | |
dc.contributor.author | Ge, S.S. | |
dc.contributor.author | Yang, C. | |
dc.date.accessioned | 2014-10-07T04:45:35Z | |
dc.date.available | 2014-10-07T04:45:35Z | |
dc.date.issued | 2011 | |
dc.identifier.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. | |
dc.identifier.isbn | 9788995605646 | |
dc.identifier.uri | http://scholarbank.nus.edu.sg/handle/10635/83823 | |
dc.description.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. | |
dc.source | Scopus | |
dc.type | Conference Paper | |
dc.contributor.department | ELECTRICAL & COMPUTER ENGINEERING | |
dc.description.sourcetitle | ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings | |
dc.description.page | 1187-1192 | |
dc.identifier.isiut | NOT_IN_WOS | |
Appears in Collections: | Staff Publications |
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