Admittance control is used mainly for human–robot interaction. It transforms forces and
torques to the desired position and orientation of the end effector. When the admittance …

Traditional constant admittance controller (CAC) in uncertain contact environment is highly
dependent on environmental location and stiffness, which are always difficult to obtain in …

In this paper, we proposed a Human-in-the-loop (HITL) control based on the Euler angles
solution of the robot end-effector. When humans are in the control loop, we can linearize the …

PID Control with Intelligent Compensation for Exoskeleton Robots explains how to use
neural PD and PID controls to reduce integration gain, and provides explicit conditions on …

Admittance control is mostly used for human-robot interaction. When the admittance control
is applied in the task space, it needs the Jacobian matrix. When the admittance control is in …

Pneumatic robot is a fluid dynamic based robot system which possesses immense
uncertainties and nonlinearities over its electrical driven counterpart. Requirement for …

Usually human-robot interaction is in task space, while the robot control is in joint space. In
order to transform the forces/torques from robot joints to the end effector, Jacobian is …

In ophthalmic surgery, realigning retinal field is a common practice to check the lesion area
by rotating the eyeball. It can be a challenging task for teleoperated surgical robots as it …

This paper presents the modeling and analysis of the novel Bipedal Wheel-Legged Robot
with Sprawling Legs Mechanism (BWLS) utilizing multi body dynamics approaches and the …