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Showing results 1 to 12 of 12

A Perturbation-Robust Framework for Admittance Control of Robotic Systems With High-Stiffness Contacts and Heavy Payload

Article
A Perturbation-Robust Framework for Admittance Control of Robotic Systems With High-Stiffness Contacts and Heavy Payload
  • Samuel, Kangwagye ; 
  • Haninger, Kevin ; 
  • Oboe, Roberto ; 
  • Haddadin, Sami ; 
  • Oh, Sehoon
  • 2024-07
  • Samuel, Kangwagye. (2024-07). A Perturbation-Robust Framework for Admittance Control of Robotic Systems With High-Stiffness Contacts and Heavy Payload. IEEE Robotics and Automation Letters, 9(7), 6432–6439. doi: 10.1109/LRA.2024.3406055
  • IEEE
  • View : 139
  • Download : 88
Conference
Differentiable Compliant Contact Primitives for Estimation and Model Predictive Control
  • Haninger, Kevin ; 
  • Samuel, Kangwagye ; 
  • Rozzi, Filippo ; 
  • Oh, Sehoon ; 
  • Roveda, Loris
  • 2024-05-14
  • Haninger, Kevin. (2024-05-14). Differentiable Compliant Contact Primitives for Estimation and Model Predictive Control. IEEE International Conference on Robotics and Automation, 17146–17152. doi: 10.1109/ICRA57147.2024.10611406
  • IEEE Robotics and Automation Society
  • View : 80
  • Download : 0
Conference
High-Performance Admittance Control of An Industrial Robot Via Disturbance Observer
  • Samuel, Kangwagye ; 
  • Haninger, Kevin ; 
  • Oh, S.
  • 2022-10-18
  • Samuel, Kangwagye. (2022-10-18). High-Performance Admittance Control of An Industrial Robot Via Disturbance Observer. 48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022. doi: 10.1109/IECON49645.2022.9968930
  • IEEE Industrial Electronics Society
  • View : 56
  • Download : 0
Article
High-stiffness Control of Series Elastic Actuators using a Noise Reduction Disturbance Observer
  • Asignacion, Abner ; 
  • Haninger, Kevin ; 
  • Oh, Sehoon ; 
  • Lee, Hyunwook
  • 2022-08
  • Asignacion, Abner. (2022-08). High-stiffness Control of Series Elastic Actuators using a Noise Reduction Disturbance Observer. doi: 10.1109/TIE.2021.3106016
  • Institute of Electrical and Electronics Engineers
  • View : 614
  • Download : 0
Conference
Improved Contact Stability for Admittance Control of Industrial Robots with Inverse Model Compensation
  • Samuel, Kangwagye ; 
  • Haninger, Kevin ; 
  • Haddadin, Sami ; 
  • Oh, Sehoon
  • 2024-10-15
  • Samuel, Kangwagye. (2024-10-15). Improved Contact Stability for Admittance Control of Industrial Robots with Inverse Model Compensation. IEEE/RSJ International Conference on Intelligent Robots and Systems, 746–752. doi: 10.1109/IROS58592.2024.10802440
  • IEEE Robotics and Automation Society
  • View : 105
  • Download : 0
Conference
Increasing Admittance of Industrial Robots By Velocity Feedback Inner-Loop Shaping
  • Samuel, Kangwagye ; 
  • Haninger, Kevin ; 
  • Oh, Sehoon
  • 2023-05-31
  • Samuel, Kangwagye. (2023-05-31). Increasing Admittance of Industrial Robots By Velocity Feedback Inner-Loop Shaping. The International Conference on Robotics and Automation, 5228–5234. doi: 10.1109/ICRA48891.2023.10161035
  • IEEE Robotics and Automation Society
  • View : 140
  • Download : 0
Article
Integrated Disturbance Observer-Based Robust Force Control
  • Samuel, Kangwagye ; 
  • Haninger, Kevin ; 
  • Oboe, Roberto ; 
  • Oh, Sehoon
  • 2023-11
  • Samuel, Kangwagye. (2023-11). Integrated Disturbance Observer-Based Robust Force Control. IEEE Transactions on Industrial Electronics, 70(11), 11483–11494. doi: 10.1109/TIE.2022.3224189
  • Institute of Electrical and Electronics Engineers Inc.
  • View : 343
  • Download : 0
Conference
Integrated DOB-Based Approach for Admittance Control of an Industrial Robot
  • Samuel, Kangwagye ; 
  • Haninger, Kevin ; 
  • Oh, Sehoon
  • 2023-10-18
  • Samuel, Kangwagye. (2023-10-18). Integrated DOB-Based Approach for Admittance Control of an Industrial Robot. International Conference on Control, Automation and Systems, ICCAS 2023, 259–264. doi: 10.23919/ICCAS59377.2023.10316849
  • ICROS (Institute of Control, Robotics and Systems)
  • View : 62
  • Download : 0
Article
Outer-Loop Admittance and Motion Control Dual Improvement via a Multi-Function Observer
  • Samuel, Kangwagye ; 
  • Haninger, Kevin ; 
  • Oboe, Roberto ; 
  • Oh, Sehoon
  • 2024-08
  • Samuel, Kangwagye. (2024-08). Outer-Loop Admittance and Motion Control Dual Improvement via a Multi-Function Observer. IEEE Transactions on Industrial Electronics, 71(8), 9339–9350. doi: 10.1109/TIE.2023.3317843
  • IEEE
  • View : 432
  • Download : 0
Conference
Reduced-Order Nominal Model Design and Validation For Task Space DOB-Based Motion Control of An Industrial Robot
  • Samuel, Kangwagye ; 
  • Haninger, Kevin ; 
  • Oh, Sehoon ; 
  • Lee, Chan
  • 2023-06-30
  • Samuel, Kangwagye. (2023-06-30). Reduced-Order Nominal Model Design and Validation For Task Space DOB-Based Motion Control of An Industrial Robot. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2023, 1095–1101. doi: 10.1109/AIM46323.2023.10196253
  • IEEE Robotics and Automation Society (RAS), IEEE Industrial Electronics Society (IES), ASME Dynamic Systems and Control Division (DSCD)
  • View : 72
  • Download : 0
Conference
Safe high impedance control of a series-elastic actuator with a disturbance observer
  • Haninger, Kevin ; 
  • Asignacion, Abner ; 
  • Oh, Sehoon
  • 2020-05-31
  • Haninger, Kevin. (2020-05-31). Safe high impedance control of a series-elastic actuator with a disturbance observer. The International Conference on Robotics and Automation, 921–927. doi: 10.1109/ICRA40945.2020.9197402
  • Institute of Electrical and Electronics Engineers Inc.
  • View : 83
  • Download : 0
Article
Task Space Outer-Loop Integrated DOB-Based Admittance Control of an Industrial Robot
  • Samuel, Kangwagye ; 
  • Haninger, Kevin ; 
  • Oboe, Roberto ; 
  • Oh, Sehoon
  • 2024-05
  • Samuel, Kangwagye. (2024-05). Task Space Outer-Loop Integrated DOB-Based Admittance Control of an Industrial Robot. IEEE Transactions on Control Systems Technology, 32(3), 974–989. doi: 10.1109/TCST.2023.3340086
  • IEEE
  • View : 395
  • Download : 0
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