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Variable impedance control in cartesian latent space while avoiding obstacles in null space

Author
Parent, D.; Colomé, A.; Torras, C.
Type of activity
Presentation of work at congresses
Name of edition
ICRA 2020 - 2020 IEEE International Conference on Robotics and Automation
Date of publication
2020
Presentation's date
2020
Book of congress proceedings
ICRA 2020 - 2020 IEEE International Conference on Robotics and Automation: Paris, France (VIRTUAL), May 31- Aug 31, 2020: proceedings book
First page
9888
Last page
9894
DOI
10.1109/ICRA40945.2020.9197192
Project funding
CLOTH manIpulation Learning from DEmonstrations
Unit of Excellence María de Maeztu
Repository
http://hdl.handle.net/2117/341775 Open in new window
URL
https://ieeexplore.ieee.org/document/9197192 Open in new window
Abstract
Human-robot interaction is one of the keys of assistive robots. Robots are expected to be compliant with people but at the same time correctly perform the tasks. In such applications, Cartesian impedance control is preferred over joint control, as the desired interaction and environmental feedback can be described more naturally, and the force to be exerted by the robot can be readily adjusted. This paper addresses the problem of controlling a robot arm in the operational space with variable sti...
Citation
Parent, D.; Colomé, A.; Torras, C. Variable impedance control in cartesian latent space while avoiding obstacles in null space. A: IEEE International Conference on Robotics and Automation. "ICRA 2020 - 2020 IEEE International Conference on Robotics and Automation: Paris, France (VIRTUAL), May 31- Aug 31, 2020: proceedings book". 2020, p. 9888-9894. DOI 10.1109/ICRA40945.2020.9197192.
Keywords
Intelligent robots, Learning (artificial intelligence), Manipulators, Robot dynamics
Group of research
ROBiri - IRI Robotics Group

Participants