μ-synthesis based control for compliant maneuvers

Yutaka Uchimura, H. Kazerooni

研究成果: Conference article

3 引用 (Scopus)

抜粋

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.

元の言語English
ページ(範囲)IV-1014 - IV-1019
ジャーナルProceedings of the IEEE International Conference on Systems, Man and Cybernetics
4
出版物ステータスPublished - 1999 12 1
イベント1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn
継続期間: 1999 10 121999 10 15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture

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