Reliable, Built-in, High-Accuracy Force Sensing for Legged Robots
International Journal of Robotics Research
A force-impedance controlled industrial robot using an active robotic auxiliary device
Robotics and Computer-Integrated Manufacturing
Robot multiple contact control
Robotica
Cost-efficient drilling using industrial robots with high-bandwidth force feedback
Robotics and Computer-Integrated Manufacturing
Static compensation for wrist mounted force torque sensor
INES'09 Proceedings of the IEEE 13th international conference on Intelligent Engineering Systems
Robotic Force Stabilization for Beating Heart Intracardiac Surgery
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
Motion compensation for robotic-assisted surgery with force feedback
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Hand & eye-vergence dual visual servoing to enhance observability and stability
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Penetration force measurement and control in robotic cell microinjection
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Online trajectory generation: basic concepts for instantaneous reactions to unforeseen events
IEEE Transactions on Robotics
Force tracking with feed-forward motion estimation for beating heart surgery
IEEE Transactions on Robotics
Force/vision based active damping control of contact transition in dynamic environments
WDV'05/WDV'06/ICCV'05/ECCV'06 Proceedings of the 2005/2006 international conference on Dynamical vision
Modelling and Adaptive Control of Nanowire-Driven Micromanipulators
Journal of Intelligent and Robotic Systems
Learning variable impedance control
International Journal of Robotics Research
Impedance Control of a Spherical Parallel Platform
International Journal of Intelligent Mechatronics and Robotics
Intelligent hierarchical robot control for sewing fabrics
Robotics and Computer-Integrated Manufacturing
Eye-vergence visual servoing enhancing Lyapunov-stable trackability
Artificial Life and Robotics
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From the Publisher:One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimedat filling this gap by providing a theoretical and experimental treatment of robot force control.