3 accepted papers
In this paper, we extend the Unified Force-Impedance Control (UFIC) framework for the whole-body control of service mobile robots subject to non-holonomic constraints. This enables the robot to execute complex service tasks that demand both force and impedance control within its whole body workspace
In this work, we model and control a cable-driven, remote-actuated system that includes both friction and compliance in its dynamics. The control objective is to solve a regulation problem using a Model Predictive Controller (MPC). Unlike the flexible-joint robot models, which typically assume frict
In this work, an upgraded exoskeleton design is presented with enhanced trajectory tracking and mechanical transparency. Compared to the first version, the design features a 3-DoF actuated shoulder joint and a mechanism to regulate the pretension of Bowden cables. Force/torque sensors are installed…