2020/04/20 by Lasitha Wijayarathne, Wijayarathne, Lasitha, Frank L. Hammond +1
Engineering · #FOS: Computer and information sciences #Muscle activation and electromyography studies #Robot Manipulation and Learning #Robotics (cs.RO) #Soft Robotics and Applications
paper · pdf · doi:10.48550/arxiv.2004.09729
openalex publication_date 2020/04/20 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Although autonomous control of robotic manipulators has been studied for\nseveral decades, they are not commonly used in safety-critical applications due\nto lack of safety and performance guarantees - many of them concerning the\nmodulation of interaction forces. This paper presents a mechanical probing\nstrategy for estimating the environmental impedance parameters of compliant\nenvironments, independent a manipulator's controller design, and configuration.\nThe parameter estimates are used in a position-based adaptive force controller\nto enable control of interaction forces in compliant, stationary, and\nnon-stationary environments. This approach is targeted for applications where\nthe workspace is constrained and non-stationary, and where force control is\ncritical to task success. These applications include surgical tasks involving\nmanipulation of compliant, delicate, moving tissues. Results show fast\nparameter estimation and successful force modulation that compensates for\nmotion.\n