Carlos Rodríguez de Cos

2 accepted papers

2022

Adaptive Cooperative Control for Human-Robot Load Manipulation

Carlos Rodríguez de Cos, Dimos V. Dimarogonas

RA-L 2022

In this letter, we propose a control strategy for human-robot cooperative manipulation under the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">ambiguous</i> collaboration of a human agent. To cope with this uncertainty, an adaptive update law infer

Cited by 12 Source ↗Scholar ↗

2020

Adaptive Integral Inverse Kinematics Control for Lightweight Compliant Manipulators

Carlos Rodríguez de Cos, José Ángel Acosta, Aníbal Ollero

RA-L 2020

In this letter, an adaptive to unknown stiffness algorithm for controlling low-cost lightweight compliant manipulators is presented. The proposed strategy is based on the well-known transpose inverse kinematics approach, that has been enhanced with an integral action and an update law for the unknow

Cited by 14 Source ↗Scholar ↗