We introduce methods for optimizing physics-based walking controllers for robustness to uncertainty. Many unknown factors, such as external forces, control torques, and user contr...
In this paper, a position-based impedance control with a fuzzy compensator is proposed to improve a force control performance, in which the environment has unknown dynamics or cur...
Abstract—In this paper, we present a new solution to laparoscopic manipulation based on forcefeedback control. This method allows us to both explicitely control the forces applie...
Alexandre Krupa, Guillaume Morel, Michel de Mathel...
—The role of a compliant motion scheme is to control a robot manipulator in contact with its environment. By accommodating with the interaction force, the manipulator can be used...
Abstract-- This work aims at the development of a versatile control strategy for operating unknown mechanically constrained devices such as drawers or doors. Few assumptions on the...
Ewald Lutscher, Martin Lawitzky, Gordon Cheng, San...