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cs.RO2022
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…
cs.RO2022
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…