Adaptive-Constrained Impedance Control for Human-Robot Co-Transportation - Yu, Xinbo; Li, Bin; He, Wei; Feng, Yanghe; Cheng, Long; Silvestre, Carlos (IEEE transactions on cybernetics, 2022)
Keywords: Actuators; Adaptive algorithms; Adaptive control; Collaboration; Constraints; Control algorithms; Control theory; Controllers; End effectors; Error constraint; Force; Human motion; human–robot co-transportation; Impedance; Initial conditions; input constraint; Interaction models; neural networks (NNs); Nonlinear control; Position measurement; Robot control; Robot dynamics; Robot sensing systems; Robots; Sensors; Task analysis; Task space; Transportation; vision and force sensing