2 papers
eess.SY2026
Robust Semi-passive Velocity Field Control with Boundedness Guarantees for Safe Interaction between Mechanical Systems and Physical Environment
Van Trong Dang, Sumitaka Honji, Takahiro Wada
Controllers that guarantee energetic passivity with respect to the pair of external force and velocity realize safe interaction between the mechanical system and its physical envir…
cs.RO2024
A Cooperation Control Framework Based on Admittance Control and Time-varying Passive Velocity Field Control for Human-Robot Co-carrying Tasks
Dang Van Trong, Hiroki Kotake, Sumitaka Honji +1
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these…