Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
Results
Showing 1 to 6 of 6 for “"Admittance control"”.
-
Autonomous Loading of Fragmented Rock: Admittance Control for Robotic Digging
An admittance-based controller for autonomously digging in fragmented rock piles was developed and tested by using a 1 t surface loader, and a 14 t Atlas Copco Load-Haul-Dump (LHD) vehicle. This admittance-based Autonomous Loading Controller (ALC) had superior consistency over both digging at …
-
Admittance control of the intelligent assist robot manipulator for people with duchenne muscular dystrophy
… robotic device. This design involves the use of admittance control as the interface for the intelligent Assist Robot Manipulator (iARM). A thorough qualitative and quantitative analysis of the prototype is performed, the results of which are presented. The quantitative analysis focuses on the …
-
A novel approach to user controlled ambulation of lower extremity exoskeletons using admittance control paradigm
… to initiate a gait but not the ability to control the stride amplitude (height), stride frequency or stride length, and hence restricting users' ability to navigate across different surfaces and obstacles that are commonly encountered in the community. Most current exoskeletons do not have …
-
Realization of dynamixel servo plant parameters to improve admittance control for a compliant human-robot interaction
In theory, admittance control offers a very effective method of implementing smooth human-robot interaction. It allows the user's applied force to control the movement of a powerful robot as if the robot were a small, passive mass. However, the real-world application of admittance control faces …
-
Exoskeleton Robot for Upper Limb Rehabilitation: Design Analysis and Control
… movements into a single smooth trajectory. To control the exoskeleton, two types of interactive control strategies are developed. Admittance control allows the user's limb to move the exoskeleton by applying forces at the designated interfaces, during which the exoskeleton can assist or resist …
-
Topics in Trajectory Generation for Robots
… suitable for human demonstration. More notably, admittance control as a new dimension to the robot-assisted teleoperation is investigated. We also describe a free-floating behavior which makes robust lead-through programming possible. As a way to utilize these setups, we present some ideas for …