Identification of Compliant Contact Parameters and Admittance Force Modulation on a Non-stationary Compliant Surface
Lasitha Wijayarathne,Frank L. Hammond,Lasitha Wijayarathne,Frank L. Hammond
Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many of them concerning the modulation of interaction forces. This paper presents a mechanical probing strategy for estimating the environmental impedance parameters of compliant environments, indepen...
