The DOI matches its Crossref record; 61 of the 61 references it cites were found in a registry or an index.
A Review of Algorithms for Compliant Control of Stiff and Fixed-Compliance Robots
Abstract
This survey presents the state of the art of basic compliant control algorithms in a unified view of past and present literature. Compliant control is fundamental when dealing with unstructured environments, as in the case of human-robot interaction. This is because it implicitly controls the energy transfer to the environment, providing a safe interaction. In this review, we analyze solutions from traditional robotics, usually involving stiff joints, and recent literature to find common control concepts and differences. To this aim, we bring back every schemas and relative mathematics formulation to a common and simplified scenario. Then, for each schema, we explain its intuitive meaning and report issues raised in the literature. We also propose an expansion of taxonomy to account for recent research.
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Citations
Cites
Impedance Control: An Approach to Manipulation: Part I—Theory
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
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
Impedance Control: An Approach to Manipulation
Hogan, N. (1984) · 1984 American Control Conference · doi:10.23919/acc.1984.4788393 · Cited by 2,929
Pratt, G. A., & Williamson, M. M. (2002) · Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots · doi:10.1109/iros.1995.525827 · Cited by 2,206
Motion control for advanced mechatronics
Ohnishi, K., Shibata, M., & Murakami, T. (1996) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/3516.491410 · Cited by 1,878
Measurement and modeling of McKibben pneumatic artificial muscles
Chou, C.-P., & Hannaford, B. (1996) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.481753 · Cited by 1,589
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
BigDog, the Rough-Terrain Quadruped Robot
Raibert, M., Blankespoor, K., Nelson, G., & Playter, R. (2008) · IFAC Proceedings Volumes · doi:10.3182/20080706-5-kr-1001.01833 · Cited by 1,495
Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art
Dollar, A. M., & Herr, H. (2008) · IEEE Transactions on Robotics · doi:10.1109/tro.2008.915453 · Cited by 1,327
Ham, R., Sugar, T., Vanderborght, B., Hollander, K., & Lefeber, D. (2009) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2009.933629 · Cited by 834
Cited by
A Review on Design of Upper Limb Exoskeletons
Gull, M. A., Bai, S., & Bak, T. (2020) · Robotics · doi:10.3390/robotics9010016 · Cited by 435
Proactive human–robot collaboration: Mutual-cognitive, predictable, and self-organising perspectives
Li, S., Zheng, P., Liu, S., Wang, Z., Wang, X. V., Zheng, L., & Wang, L. (2023) · Robotics and Computer-Integrated Manufacturing · doi:10.1016/j.rcim.2022.102510 · Cited by 265
Probabilistic real-time user posture tracking for personalized robot-assisted dressing
Zhang, F., Cully, A., & Demiris, Y. (2019) · IEEE Transactions on Robotics · doi:10.1109/tro.2019.2904461 · Cited by 70
Kadi, H. A., & Terzić, K. (2023) · Sensors · doi:10.3390/s23052389 · Cited by 27
“A common approach of assistive dressing is to combine collision avoidance and compliant control [86] by leveraging a motion planner [299,301,302] with/without posture tracking models [298,303,304] to generate a collision-free [305] predictive action sequence, then adopt compliant control with force sensors [306], or d…”
Method
Metadata
- Authors
- Calanca, A., Muradore, R., & Fiorini, P.
- Venue
- IEEE/ASME Transactions on Mechatronics
- Published
- 2016-04
- Volume
- 21
- Issue
- 2
- Pages
- 613-624
- ISSN
- 1083-4435 (ISSN-L)
- 1941-014X
- OpenAlex
- W2295584263
- Cited by
- 320
- References
- 61
- FWCI
- 8.34
- Type
- journal article
- Language
- en
- Open access
- closed
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- Calanca, A., Muradore, R., & Fiorini, P. (2016). A Review of Algorithms for Compliant Control of Stiff and Fixed-Compliance Robots. IEEE/ASME Transactions on Mechatronics. https://doi.org/10.1109/tmech.2015.2465849
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Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
