10 citations · 11 across the 2 of their papers we have counts for
2 papers
cs.RO2023★ 1 cited
Stability analysis of admittance control using asymmetric stiffness matrix
Toshiaki Tsuji, Yasuhiro Kato
In contact-rich tasks, setting the stiffness of the control system is a critical factor in its performance. Although the setting range can be extended by making the stiffness matri…
cs.RO2022★ 10 cited
A Self-Tuning Impedance-based Interaction Planner for Robotic Haptic Exploration
Yasuhiro Kato, Pietro Balatti, Juan M. Gandarias +3
This paper presents a novel interaction planning method that exploits impedance tuning techniques in response to environmental uncertainties and unpredictable conditions using hapt…