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

^*此作品的通讯作者

自动化学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

4 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	Proceedings of the 38th Chinese Control Conference, CCC 2019
编辑	Minyue Fu, Jian Sun
出版商	IEEE Computer Society
页	4596-4601
页数	6
ISBN（电子版）	9789881563972
DOI	https://doi.org/10.23919/ChiCC.2019.8866233
出版状态	已出版 - 7月 2019
活动	38th Chinese Control Conference, CCC 2019 - Guangzhou, 中国期限: 27 7月 2019 → 30 7月 2019

出版系列

姓名	Chinese Control Conference, CCC
卷	2019-July
ISSN（印刷版）	1934-1768
ISSN（电子版）	2161-2927

会议

会议	38th Chinese Control Conference, CCC 2019
国家/地区	中国
市	Guangzhou
时期	27/07/19 → 30/07/19

访问文件

10.23919/ChiCC.2019.8866233

其它文件与链接

链接到 Scopus 的出版物

引用此

Yang, B., Zhai, D. H., Lyu, W., & Xia, Y. (2019). Event-based hybrid impedance and admittance control. 在 M. Fu, & J. Sun (编辑), Proceedings of the 38th Chinese Control Conference, CCC 2019 (页码 4596-4601). 文章 8866233 (Chinese Control Conference, CCC; 卷 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. 在 M Fu & J Sun (编辑), Proceedings of the 38th Chinese Control Conference, CCC 2019., 8866233, Chinese Control Conference, CCC, 卷 2019-July, IEEE Computer Society, 页码 4596-4601, 38th Chinese Control Conference, CCC 2019, Guangzhou, 中国, 27/07/19. https://doi.org/10.23919/ChiCC.2019.8866233

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

摘要

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会议

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