5 papers
Virtual model control for compliant reaching under uncertainties
Yi Zhang, Daniel Larby, Fumiya Iida +1
Virtual Model Control (VMC) is an approach to design a controller for force-controlled robots in complex uncertain environments. While this method was primarily investigated for le…
Collaborative Drill Alignment in Surgical Robotics
Daniel Larby, Joshua Kershaw, Matthew Allen +1
Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with t…
Optimal Virtual Model Control for Robotics: Design and Tuning of Passivity-Based Controllers
Daniel Larby, Fulvio Forni
Passivity-based control is a cornerstone of control theory and an established design approach in robotics. Its strength is based on the passivity theorem, which provides a powerful…
A Passivity Preserving H-infinity Synthesis Technique for Robot Control
Daniel Larby, Fulvio Forni
Most impedance control schemes in robotics implement a desired passive impedance, allowing for stable interaction between the controlled robot and the environment. However, there i…
A Generalized Approach to Impedance Control Design for Robotic Minimally Invasive Surgery
Daniel Larby, Fulvio Forni
Energy based control methods are at the core of modern robotic control algorithms. In this paper we present a general approach to virtual model/mechanism control, which is a powerf…