μ-synthesis based control for compliant maneuvers

Yutaka Uchimura, H. Kazerooni

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper presents a controller design based on μ synthesis for compliant maneuvers, which enables a robust force feedback without using a force sensor. The controller maintains robust stability against uncertainties existing in both environment and human dynamics, which contributes to dexterous manipulation. The controller described here is implemented on the human power extender, which is worn by a human and amplify the human's physical strength, while the human's intelligence remains as the central control system for manipulation.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Systems, Man and Cybernetics
PublisherIEEE
Volume4
Publication statusPublished - 1999
Externally publishedYes
Event1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn
Duration: 1999 Oct 121999 Oct 15

Other

Other1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics'
CityTokyo, Jpn
Period99/10/1299/10/15

Fingerprint

Controllers
Feedback
Control systems
Sensors
Robust stability
Uncertainty

ASJC Scopus subject areas

  • Hardware and Architecture
  • Control and Systems Engineering

Cite this

Uchimura, Y., & Kazerooni, H. (1999). μ-synthesis based control for compliant maneuvers. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (Vol. 4). IEEE.

μ-synthesis based control for compliant maneuvers. / Uchimura, Yutaka; Kazerooni, H.

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 4 IEEE, 1999.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Uchimura, Y & Kazerooni, H 1999, μ-synthesis based control for compliant maneuvers. in Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. vol. 4, IEEE, 1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics', Tokyo, Jpn, 99/10/12.
Uchimura Y, Kazerooni H. μ-synthesis based control for compliant maneuvers. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 4. IEEE. 1999
Uchimura, Yutaka ; Kazerooni, H. / μ-synthesis based control for compliant maneuvers. Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 4 IEEE, 1999.
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