Goal-driven variable admittance control for robot manual guidance
Davide Bazzi,Miriam Lapertosa,Andrea Maria Zanchettin,Paolo Rocco,Davide Bazzi,Miriam Lapertosa,Andrea Maria Zanchettin,Paolo Rocco
In this paper we address variable admittance control for human-robot physical interaction in manual guidance applications. In the proposed solution, the parameters of the admittance filter can change not only as a function of the current state of motion (i.e. whether the human guiding the robot ia accelerating or decelerating) but also with reference to a predefined goal position. The human is in ...
