3 accepted papers
Robotic manipulators are playing an increasing role in a wide range of industries. However, their application to assembly tasks is hampered by the need for precise control over the environment and for task-specific coding. Cartesian impedance control is a well-established method for interacting with
Contact-rich assembly tasks may result in large and unpredictable forces and torques when the locations of the contacting parts are uncertain. The ability to correct the trajectory in response to haptic feedback and accomplish the task despite location uncertainties is an important skill. We hypothe…
Natural dynamic controllers aim to perform the desired task by exploiting the natural dynamics of the system. This can be accomplished by generating torque patterns to actuate the system rather than accurately following a predefined trajectory. We have previously demonstrated natural dynamic control…