| Residential College | false |
| Status | 已發表Published |
| Variable Admittance Control by Measuring Arm Impedance | |
Rui Duan1,2; Chongchong Wang1 ; Chin-Yin Chen1; Guilin Yang1; Long Chen3
| |
| 2021 | |
| Conference Name | 14th International Conference on Intelligent Robotics and Applications (ICIRA) |
| Source Publication | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
 |
| Volume | 13014 LNAI |
| Pages | 480-490 |
| Conference Date | OCT 22-25, 2021 |
| Conference Place | Yantai |
| Country | China |
| Publication Place | GERMANY |
| Publisher | SPRINGER-VERLAG BERLIN |
| Abstract | This paper presents a variable admittance control (VAC) method of human-robot collaboration (HRC) based on human body impedance. In HRC, when the stiffness of a person’s arm increases, the control based on fixed admittance parameters become unusable. VAC is proposed, which makes the damping coefficient in the robot admittance parameters determined by the stiffness of the end of the human arm and the system’s stability. The damping parameters are changed according to the speed of the end of the robot, so that the HRC is easy to complete. |
| Keyword | Admittance Control Human Arm Impedance Model Human-robot Collaboration |
| DOI | 10.1007/978-3-030-89098-8_45 |
| URL | View the original |
| Indexed By | CPCI-S |
| Language | 英語English |
| WOS Research Area | Automation & Control Systems ; Computer Science ; Engineering ; Robotics |
| WOS Subject | Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Robotics |
| WOS ID | WOS:000725394600045 |
| Scopus ID | 2-s2.0-85118196277 |
| Fulltext Access | |
| Citation statistics | |
| Document Type | Conference paper |
| Collection | DEPARTMENT OF COMPUTER AND INFORMATION SCIENCE |
| Corresponding Author | Chongchong Wang |
| Affiliation | 1.Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Beijing, 315201, China 2.Tanyuan University of Science and Technology, Taiyuan, 030024, China 3.Faculty of Science and Technology, University of Macau, Macau, 999078, China |
| Recommended Citation GB/T 7714 | Rui Duan,Chongchong Wang,Chin-Yin Chen,et al. Variable Admittance Control by Measuring Arm Impedance[C], GERMANY:SPRINGER-VERLAG BERLIN, 2021, 480-490. |
| APA | Rui Duan., Chongchong Wang., Chin-Yin Chen., Guilin Yang., & Long Chen (2021). Variable Admittance Control by Measuring Arm Impedance. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 13014 LNAI, 480-490. |
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