The DOI matches its Crossref record; 11 of the 11 references it cites were found in a registry or an index.
Unified Impedance and Admittance Control
Abstract
Impedance and Admittance Control are two distinct implementations of the same control goal. It is well known that their stability and performance properties are complementary. In this paper, we present a hybrid system approach, which incorporates Impedance and Admittance Control as two extreme cases of one family of controllers. This approach allows to continuously switch and interpolate between Impedance and Admittance Control. We compare the basic stability and performance properties of the resulting controllers by means of an extensive case study of a one-dimensional system and present an experimental evaluation using the KUKA-DLR-lightweight arm.
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Cites
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Basic problems in stability and design of switched systems
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Hybrid Position/Force Control of Manipulators
Raibert, M. H., & Craig, J. J. (1981) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3139652 · Cited by 3,015
Compliance and Force Control for Computer Controlled Manipulators
Mason, M. T. (1981) · IEEE Transactions on Systems, Man, and Cybernetics · doi:10.1109/tsmc.1981.4308708 · Cited by 1,542
Hybrid impedance control of robotic manipulators
Anderson, R. J., & Spong, M. W. (1988) · IEEE Journal on Robotics and Automation · doi:10.1109/56.20440 · Cited by 421
Impedance control stability properties in common implementations
Lawrence, D. A. (2003) · Proceedings. 1988 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1988.12222 · Cited by 290
A Humanoid Two-Arm System for Dexterous Manipulation
Ott, C., Eiberger, O., Friedl, W., Bäuml, B., Hillenbrand, U., Borst, C., Albu‐Schäffer, A., Brunner, B., Hirschmüller, H., Kielhöfer, S., et al. (2006) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/ichr.2006.321397 · Cited by 240
Self-citationCB: a humanoid research platform for exploring neuroscience
Cheng, G., Hyon, S.-H., Morimoto, J., Ude, A., Hale, J. G., Colvin, G., Scroggin, W., & Jacobsen, S. C. (2007) · Advanced Robotics · doi:10.1163/156855307781389356 · Cited by 213
Robust hybrid impedance control of robot manipulators
Liu, G. J., & Goldenberg, A. A. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1991.131589 · Cited by 110
Accuracy/Robustness Dilemma in Impedance Control
Valency, T., & Zacksenhouse, M. (2003) · Journal of Dynamic Systems Measurement and Control · doi:10.1115/1.1590685 · Cited by 86
Cited by
A Review of Algorithms for Compliant Control of Stiff and Fixed-Compliance Robots
Calanca, A., Muradore, R., & Fiorini, P. (2016) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2015.2465849 · Cited by 320
Overview of the torque-controlled humanoid robot TORO
Englsberger, J., Werner, A., Ott, C., Henze, B., Roa, M. A., Garofalo, G., Burger, R., Beyer, A., Eiberger, O., Schmid, K., et al. (2014) · 2014 IEEE-RAS International Conference on Humanoid Robots · doi:10.1109/humanoids.2014.7041473 · Cited by 297
Self-citationPhysical Human–Robot Interaction
Haddadin, S., & Croft, E. (2016) · Springer Handbooks · doi:10.1007/978-3-319-32552-1_69 · Cited by 263
Metadata
- Authors
- Ott, C., Mukherjee, R., & Nakamura, Y.
- Venue
- 2010 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2010-05
- Pages
- 554-561
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2162207896
- Cited by
- 342
- References
- 11
- FWCI
- 2.28
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Ott, C., Mukherjee, R., & Nakamura, Y. (2010). Unified Impedance and Admittance Control. 2010 IEEE International Conference on Robotics and Automation. https://doi.org/10.1109/robot.2010.5509861
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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