Zobrazeno 1 - 10
of 88
pro vyhledávání: '"Michael Mistry"'
Publikováno v:
Frontiers in Neuroscience, Vol 16 (2022)
Humans are capable of adjusting their posture stably when interacting with a compliant surface. Their whole-body motion can be modulated in order to respond to the environment and reach to a stable state. In perceiving an uncertain external force, hu
Externí odkaz:
https://doaj.org/article/2e6221504d06411993a759daae5471ef
Publikováno v:
Frontiers in Robotics and AI, Vol 7 (2020)
Quadruped robots require compliance to handle unexpected external forces, such as impulsive contact forces from rough terrain, or from physical human-robot interaction. This paper presents a locomotion controller using Cartesian impedance control to
Externí odkaz:
https://doaj.org/article/01b6fd29cc3e44058c07309a6c516424
Publikováno v:
IEEE Robotics & Automation Magazine. :2-14
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::8d8113e8bb4bb591cdf11e851937e633
https://doi.org/10.1109/mra.2023.3270222
https://doi.org/10.1109/mra.2023.3270222
Autor:
Keyhan Kouhkiloui Babarahmati, Carlo Tiseo, Joshua Smith, Hsiu-Chin Lin, Mustafa Suphi Erden, Michael Mistry
Publikováno v:
Babarahmati, K K, Tiseo, C, Smith, J, Lin, H-C, Erden, M S & Mistry, M 2022, ' Fractal impedance for passive controllers: a framework for interaction robotics ', Nonlinear Dynamics, vol. 110, pp. 2517-2533 . https://doi.org/10.1007/s11071-022-07754-3
There is increasing interest in control frameworks capable of moving robots from industrial cages to unstructured environments and coexisting with humans. Despite significant improvement in some specific applications (e.g., medical robotics), there i
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::3d3a2dd9f43fe0624b072415da5332fa
https://doi.org/10.1007/s11071-022-07754-3
https://doi.org/10.1007/s11071-022-07754-3
Autor:
Mathew Jose Pollayil, Franco Angelini, Guiyang Xin, Michael Mistry, Sethu Vijayakumar, Antonio Bicchi, Manolo Garabini
Publikováno v:
Pollayil, M J, Angelini, F, Xin, G, Mistry, M, Vijayakumar, S, Bicchi, A & Garabini, M 2023, ' Choosing Stiffness and Damping for Optimal Impedance Planning ', IEEE Transactions on Robotics, vol. 39, no. 2, pp. 1281-1300 . https://doi.org/10.1109/TRO.2022.3216078
The attention given to impedance control in recent years does not match a similar focus on the choice of impedance values that the controller should execute. Current methods are hardly general and often compute fixed controller gains relying on the u
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::3c2a1153814798a451649bee58e958d2
https://www.pure.ed.ac.uk/ws/files/313473567/Choosing_Stiffness_POLLAYIL_DOA01112022_AFV.pdf
https://www.pure.ed.ac.uk/ws/files/313473567/Choosing_Stiffness_POLLAYIL_DOA01112022_AFV.pdf
Autor:
Pouya Mohammadi, Michael Mistry, Niels Dehio, Jochen J. Steil, Joshua Smith, Dennis Leroy Wigand
Publikováno v:
The International Journal of Robotics Research. 41:68-84
Robotics research into multi-robot systems so far has concentrated on implementing intelligent swarm behavior and contact-less human interaction. Studies of haptic or physical human-robot interaction, by contrast, have primarily focused on the assist
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::114a7c99114f468fd0a01599cbf19d50
https://doi.org/10.1177/02783649211053650
https://doi.org/10.1177/02783649211053650
Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks’ complexity and intrinsic environmental unpredictability. Studying biological motor control can provide insights i
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::2cfd1411b27eeba09c02fdb72440bce7
http://sro.sussex.ac.uk/id/eprint/104685/1/Tiseo+et+al_2022_Eng._Res._Express_10.1088_2631-8695_ac59dd.pdf
http://sro.sussex.ac.uk/id/eprint/104685/1/Tiseo+et+al_2022_Eng._Res._Express_10.1088_2631-8695_ac59dd.pdf
Autor:
Joshua Smith, Michael Mistry
Publikováno v:
Smith, J & Mistry, M 2020, ' Online Simultaneous Semi-Parametric Dynamics Model Learning ', IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2039-2046 . https://doi.org/10.1109/LRA.2020.2970987
Accurate models of robots' dynamics are critical for control, stability, motion optimization, and interaction. Semi-Parametric approaches to dynamics learning combine physics-based Parametric models with unstructured Non-Parametric regression with th
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::48fcb85e7a5c39b0a40592752be651d2
https://doi.org/10.1109/lra.2020.2970987
https://doi.org/10.1109/lra.2020.2970987
Modelling robot dynamics accurately is essential for control, motion optimisation and safe human-robot collaboration. Given the complexity of modern robotic systems, dynamics modelling remains non-trivial, mostly in the presence of compliant actuator
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::6a931331ed68b2cafac5ed04fde09ed8
Publikováno v:
Azad, M, Babic, J & Mistry, M 2019, ' Effects of the weighting matrix on dynamic manipulability of robots ', Autonomous Robots, pp. 1-13 . https://doi.org/10.1007/s10514-018-09819-y
Dynamic manipulability of robots is a well-known tool to analyze, measure and predict a robot's performance in executing different tasks. This tool provides a graphical representation and a set of metrics as outcomes of a mapping from joint torques t
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::6bc612faa05a4fe92c4ae89daec3276e
https://doi.org/10.1007/s10514-018-09819-y
https://doi.org/10.1007/s10514-018-09819-y