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Title: Adaptive impedance control for natural human-robot collaboration
Authors: Li, Y.
Ge, S.S. 
Tee, K.P.
Keywords: force control
human-robot collaboration
impedance control
Issue Date: 2012
Citation: 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.
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
ISBN: 9781450318358
DOI: 10.1145/2425296.2425313
Appears in Collections:Staff Publications

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