Chenwei Gong — accepted AI-conference papers

2024

Multi-Contact Cartesian Null-Space Impedance Control for the Anthropomorphic Manipulator Without Knowledge of Force Locations

Chenwei Gong, Fei Zhao, Zhiwei Liao, Tao Tao, Xiao Wang, Xuesong Mei

RA-L 2024

There is still a lack of null-space impedance control defined in Cartesian space that is suitable for multipoint contact and does not require knowledge of the force locations. To address this problem, this letter demonstrates a type of Cartesian null-space impedance control for the anthropomorphic m

Cited by 2 Source ↗Scholar ↗

2024

Simple-Rotation Angle/Axis Representations Based Second-Order Impedance Control

Chenwei Gong, Fei Zhao, Zhiwei Liao, Tao Tao, Xiao Wang, Xuesong Mei

RA-L 2024

Since the difference in angular velocity is used as the derivative of the orientation error in the classical impedance control, there is no longer a form of the second-order differential equation (SODE), and there is non-linearity in the classical impedance control, which limits applications. To add

Cited by 0 Source ↗Scholar ↗