μ-synthesis based control for compliant maneuvers

Yutaka Uchimura, H. Kazerooni

Research output: Contribution to journalConference articlepeer-review

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
Pages (from-to)IV-1014 - IV-1019
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume4
Publication statusPublished - 1999 Dec 1
Event1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn
Duration: 1999 Oct 121999 Oct 15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture

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