Impedance control

Series elastic actuators

Gill A. Pratt, Matthew M. Williamson

Citations: 2177 • 2002

The central nervous system stabilizes unstable dynamics by learning optimal impedance

Etienne Burdet, Rieko Osu, David W. Franklin, Theodore E. Milner, Mitsuo Kawato

Citations: 1116 • 2001

Impedance Control: An Approach to Manipulation: Part II—Implementation

Neville Hogan

Citations: 953 • 1985

DLR-Hand II: next generation of a dextrous robot hand

J. Butterfaß, Markus Grebenstein, Haoliang Liu, G. Hirzinger

Citations: 814 • 2002

A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots

Alin Albu‐Schäffer, Christian Ott, Gerd Hirzinger

Citations: 805 • 2007

Adaptive Neural Impedance Control of a Robotic Manipulator With Input Saturation

Wei He, Yiting Dong, Changyin Sun

Citations: 787 • 2015

Historical Perspective and State of the Art in Robot Force Control

Daniel E. Whitney

Citations: 761 • 1987

Robot Grasp Synthesis Algorithms: A Survey

K.B. Shimoga

Citations: 666 • 1996

Adaptive Fuzzy Neural Network Control for a Constrained Robot Using Impedance Learning

Wei He, Yiting Dong

Citations: 638 • 2017

Control Theory of Non-linear Mechanical Systems

Suguru Arimoto

Citations: 580 • 1996

Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction

Giovanni Tonietti, Riccardo Schiavi, Antonio Bicchi

Citations: 535 • 2006

An EMG-Based Control for an Upper-Limb Power-Assist Exoskeleton Robot

Kazuo Kiguchi, Yoshiaki Hayashi

Citations: 528 • 2012

Force Tracking Impedance Control of Robot Manipulators Under Unknown Environment

Seul Jung, T.C. Hsia, R.G. Bonitz

Citations: 472 • 2004

A New Actuation Approach for Human Friendly Robot Design

Michael Zinn, Bernard Roth, Oussama Khatib, J. Kenneth Salisbury

Citations: 441 • 2004

Variable Impedance Control of Redundant Manipulators for Intuitive Human–Robot Physical Interaction

Fanny Ficuciello, Luigi Villani, Bruno Siciliano

Citations: 436 • 2015

Stable execution of contact tasks using impedance control

Neville Hogan

Citations: 432 • 2005

Control of Rotary Series Elastic Actuator for Ideal Force-Mode Actuation in Human–Robot Interaction Applications

Kyoungchul Kong, Joonbum Bae, Masayoshi Tomizuka

Citations: 428 • 2009

On the Passivity-Based Impedance Control of Flexible Joint Robots

Christian Ott, Alin Albu‐Schäffer, Andreas Kugi, G. Hirzinger

Citations: 417 • 2008

Hybrid impedance control of robotic manipulators

Robert J. Anderson, Mark W. Spong

Citations: 416 • 1988

Adaptive variable impedance control for dynamic contact force tracking in uncertain environment

Jinjun Duan, Yahui Gan, Ming Chen, Xianzhong Dai

Citations: 395 • 2018