Variable impedance control with stiffness for human-robot cooperation system

Jangho Bae, Jonghyeon Ko, Daehie Hong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper described a novel variable impedance control that include a stiffness coefficient for the human-robot cooperation. This control method changes not only a damping coefficient but also stiffness coefficient according to a process of tasks. For example, when a human positions an object nearby an environment with the purpose of installing it at the environment, the stiffness characteristic is helpful for avoiding a collision between the robot and environment and easy installation. A cooperative task to carry the object nearby the environment and then hold it close to the environment was performed to confirm the usefulness of the proposed control strategy. Experimental results show that the variable impedance control with stiffness is suitable for not only carrying and positioning tasks, but also various tasks which are contacting with the environment.

Original languageEnglish
Title of host publicationICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1231-1233
Number of pages3
ISBN (Print)9788993215090
DOIs
Publication statusPublished - 2015 Dec 23
Event15th International Conference on Control, Automation and Systems, ICCAS 2015 - Busan, Korea, Republic of
Duration: 2015 Oct 132015 Oct 16

Other

Other15th International Conference on Control, Automation and Systems, ICCAS 2015
CountryKorea, Republic of
CityBusan
Period15/10/1315/10/16

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Keywords

  • Classification of tasks
  • Human-robot cooperation
  • Variable impedance control with stiffness

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Bae, J., Ko, J., & Hong, D. (2015). Variable impedance control with stiffness for human-robot cooperation system. In ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings (pp. 1231-1233). [7364818] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCAS.2015.7364818