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Impedance Control: An Approach to Manipulation
Abstract
Manipulation fundamentally requires a manipulator to be mechanically coupled to the object being manipulated. A consideration of the physical constraints imposed by dynamic interaction shows that control of a vector quantity such as position or force is inadequate and that control of the manipulator impedance is also necessary. Techniques for control of manipulator behaviour are presented which result in a unified approach to kinematically constrained motion, dynamic interaction, target acquisition and obstacle avoidance.
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Citations
Cited by
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Khatib, O. (1986) · The International Journal of Robotics Research · doi:10.1177/027836498600500106 · Cited by 7,894
Augmented visual, auditory, haptic, and multimodal feedback in motor learning: A review
Sigrist, R., Rauter, G., Riener, R., & Wolf, P. (2013) · Psychonomic Bulletin & Review · doi:10.3758/s13423-012-0333-8 · Cited by 1,416
Rehabilitation Robotics: Performance-Based Progressive Robot-Assisted Therapy
Krebs, H. I., Palazzolo, J. J., Dipietro, L., Ferraro, M., Krol, J., Rannekleiv, K., Volpe, B. T., & Hogan, N. (2003) · Autonomous Robots · doi:10.1023/a:1024494031121 · Cited by 714
Self-citationModeling piezoelectric stack actuators for control of micromanipulation
(1997) · IEEE Control Systems · doi:10.1109/37.588158 · Cited by 668
A general framework for managing multiple tasks in highly redundant robotic systems
Siciliano, B., & Slotine, J.-J. E. (1991) · Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments · doi:10.1109/icar.1991.240390 · Cited by 608
Metadata
- Authors
- Hogan, N.
- Venue
- 1984 American Control Conference
- Publisher
- IEEE
- Published
- 1984-07
- Pages
- 304-313
- ISSN
- 0743-1619 (ISSN-L)
- OpenAlex
- W1978023077
- Cited by
- 2,929
- References
- 0
- FWCI
- 17.58
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Hogan, N. (1984). Impedance Control: An Approach to Manipulation. 1984 American Control Conference. https://doi.org/10.23919/acc.1984.4788393
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
