Smith Predictor Type Control Architectures for Time Delayed Teleoperation
International Journal of Robotics Research
In Vivo Model Estimation and Haptic Characterization of Needle Insertions
International Journal of Robotics Research
Cost-efficient drilling using industrial robots with high-bandwidth force feedback
Robotics and Computer-Integrated Manufacturing
Identification of contact dynamics parameters for stiff robotic payloads
IEEE Transactions on Robotics
Tissue property estimation and graphical display for teleoperated robot-assisted surgery
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Identification of Contact Parameters from Stiff Multi-point Contact Robotic Operations
International Journal of Robotics Research
Research of pneumatic hydraulic compliant force control system
ICNC'09 Proceedings of the 5th international conference on Natural computation
Real stiffness augmentation for haptic augmented reality
Presence: Teleoperators and Virtual Environments
On-line estimation of variable stiffness in flexible robot joints
International Journal of Robotics Research
Proceedings of Conference on Advances In Robotics
Foot-terrain interaction mechanics for legged robots: Modeling and experimental validation
International Journal of Robotics Research
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In this paper, the problem of online estimation of the mechanical impedance during the contact of a robotic system with an unknown environment is considered. This problem is of great interest when controlling a robot in an unstructured and unknown environment, such as in telemanipulation tasks, since it can be easily shown that the exploitation of the knowledge of the mechanical properties of the environment can greatly improve the performance of the robotic system. In particular, a single-point contact is considered, and the (nonlinear) Hunt-Crossley model is taken into account, instead of the classical (linear) Kelvin-Voigt model. Indeed, the former achieves a better physical consistency and also allows describing the behavior of soft materials. Finally, the online estimation algorithm is described and experimental results are presented and discussed.