Event-based hybrid impedance and admittance control

Bo Yang; Di Hua Zhai; Weizhi Lyu; Yuanqing Xia

doi:10.23919/ChiCC.2019.8866233

Event-based hybrid impedance and admittance control

Bo Yang, Di Hua Zhai^*, Weizhi Lyu, Yuanqing Xia

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

This paper proposes an event-based hybrid impedance and admittance control method for robot manipulator, which improves the contact compliance between the robot and human operator. The novel method makes full use of the advantages of the classical impedance control and the classical admittance control by introducing a switching strategy. The simulation and experiment results on the Baxter robot show the effectiveness of our design.

Original language	English
Title of host publication	Proceedings of the 38th Chinese Control Conference, CCC 2019
Editors	Minyue Fu, Jian Sun
Publisher	IEEE Computer Society
Pages	4596-4601
Number of pages	6
ISBN (Electronic)	9789881563972
DOIs	https://doi.org/10.23919/ChiCC.2019.8866233
Publication status	Published - Jul 2019
Event	38th Chinese Control Conference, CCC 2019 - Guangzhou, China Duration: 27 Jul 2019 → 30 Jul 2019

Publication series

Name	Chinese Control Conference, CCC
Volume	2019-July
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	38th Chinese Control Conference, CCC 2019
Country/Territory	China
City	Guangzhou
Period	27/07/19 → 30/07/19

Keywords

Admittance control
Compliant control
Human-robot interaction
Hybrid control
Impedance control

Access to Document

10.23919/ChiCC.2019.8866233

Cite this

Yang, B., Zhai, D. H., Lyu, W., & Xia, Y. (2019). Event-based hybrid impedance and admittance control. In M. Fu, & J. Sun (Eds.), Proceedings of the 38th Chinese Control Conference, CCC 2019 (pp. 4596-4601). Article 8866233 (Chinese Control Conference, CCC; Vol. 2019-July). IEEE Computer Society. https://doi.org/10.23919/ChiCC.2019.8866233

@inproceedings{00d1c5ad1c054f659379f32dea59b473,

title = "Event-based hybrid impedance and admittance control",

abstract = "This paper proposes an event-based hybrid impedance and admittance control method for robot manipulator, which improves the contact compliance between the robot and human operator. The novel method makes full use of the advantages of the classical impedance control and the classical admittance control by introducing a switching strategy. The simulation and experiment results on the Baxter robot show the effectiveness of our design.",

keywords = "Admittance control, Compliant control, Human-robot interaction, Hybrid control, Impedance control",

author = "Bo Yang and Zhai, {Di Hua} and Weizhi Lyu and Yuanqing Xia",

note = "Publisher Copyright: {\textcopyright} 2019 Technical Committee on Control Theory, Chinese Association of Automation.; 38th Chinese Control Conference, CCC 2019 ; Conference date: 27-07-2019 Through 30-07-2019",

year = "2019",

month = jul,

doi = "10.23919/ChiCC.2019.8866233",

language = "English",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "4596--4601",

editor = "Minyue Fu and Jian Sun",

booktitle = "Proceedings of the 38th Chinese Control Conference, CCC 2019",

address = "United States",

}

Yang, B, Zhai, DH, Lyu, W & Xia, Y 2019, Event-based hybrid impedance and admittance control. in M Fu & J Sun (eds), Proceedings of the 38th Chinese Control Conference, CCC 2019., 8866233, Chinese Control Conference, CCC, vol. 2019-July, IEEE Computer Society, pp. 4596-4601, 38th Chinese Control Conference, CCC 2019, Guangzhou, China, 27/07/19. https://doi.org/10.23919/ChiCC.2019.8866233

Event-based hybrid impedance and admittance control. / Yang, Bo; Zhai, Di Hua; Lyu, Weizhi et al.
Proceedings of the 38th Chinese Control Conference, CCC 2019. ed. / Minyue Fu; Jian Sun. IEEE Computer Society, 2019. p. 4596-4601 8866233 (Chinese Control Conference, CCC; Vol. 2019-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Event-based hybrid impedance and admittance control

AU - Yang, Bo

AU - Zhai, Di Hua

AU - Lyu, Weizhi

AU - Xia, Yuanqing

PY - 2019/7

Y1 - 2019/7

N2 - This paper proposes an event-based hybrid impedance and admittance control method for robot manipulator, which improves the contact compliance between the robot and human operator. The novel method makes full use of the advantages of the classical impedance control and the classical admittance control by introducing a switching strategy. The simulation and experiment results on the Baxter robot show the effectiveness of our design.

AB - This paper proposes an event-based hybrid impedance and admittance control method for robot manipulator, which improves the contact compliance between the robot and human operator. The novel method makes full use of the advantages of the classical impedance control and the classical admittance control by introducing a switching strategy. The simulation and experiment results on the Baxter robot show the effectiveness of our design.

KW - Admittance control

KW - Compliant control

KW - Human-robot interaction

KW - Hybrid control

KW - Impedance control

UR - http://www.scopus.com/inward/record.url?scp=85074431399&partnerID=8YFLogxK

U2 - 10.23919/ChiCC.2019.8866233

DO - 10.23919/ChiCC.2019.8866233

M3 - Conference contribution

AN - SCOPUS:85074431399

T3 - Chinese Control Conference, CCC

SP - 4596

EP - 4601

BT - Proceedings of the 38th Chinese Control Conference, CCC 2019

A2 - Fu, Minyue

A2 - Sun, Jian

PB - IEEE Computer Society

T2 - 38th Chinese Control Conference, CCC 2019

Y2 - 27 July 2019 through 30 July 2019

ER -

Event-based hybrid impedance and admittance control

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Keywords

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