2 citations · 3 across the 5 of their papers we have counts for
5 papers
Zero Wrench Control via Wrench Disturbance Observer for Learning-free Peg-in-hole Assembly
Kiyoung Choi, Juwon Jeong, Sehoon Oh
This paper proposes a Dynamic Wrench Disturbance Observer (DW-DOB) designed to achieve highly sensitive zero-wrench control in contact-rich manipulation. By embedding task-space in…
Differentiable Compliant Contact Primitives for Estimation and Model Predictive Control
Kevin Haninger, Kangwagye Samuel, Filippo Rozzi +2
Control techniques like MPC can realize contact-rich manipulation which exploits dynamic information, maintaining friction limits and safety constraints. However, contact geometry…
Safe rendering of high impedance on a series-elastic actuator with disturbance observer-based torque control
Kevin Haninger, Abner Asignacion, Sehoon Oh
An important performance metric for series-elastic actuators is the range of impedance which they can safely render. Advanced torque control, using techniques such as the disturban…
Performance Analysis of Series Elastic Actuator based on Maximum Torque Transmissibility
Chan Lee, Sehoon Oh
The use of the Series Elastic Actuator (SEA) system as an actuator system equipped with a compliant element has contributed not only to advances in human interacting robots but als…
Towards Accurate Force Control of Series Elastic Actuators Exploiting a Robust Transmission Force Observer
Chan Lee, Jinoh Lee, Sehoon Oh
This paper develops an accurate force control algorithm for series elastic actuators (SEAs) based on a novel force estimation scheme, called transmission force observer (TFOB). The…