2 papers
cs.RO2022
Safe Human Robot-Interaction using Switched Model Reference Admittance Control
Chayan Kumar Paul, Bhabani Shankar Dey, Udayan Banerjee +1
Physical Human-Robot Interaction (pHRI) task involves tight coupling between safety constraints and compliance with human intentions. In this paper, a novel switched model referenc…
cs.RO2022
Robust Artificial Delay based Impedance Control of Robotic Manipulators with Uncertain Dynamics
Udayan Banerjee, Bhabani Shankar Dey, Indra Narayan Kar +1
In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (…