2012
DOI: 10.3182/20120905-3-hr-2030.00047
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Adaptive Force/Velocity control for opening unknown doors1

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Cited by 8 publications
(11 citation statements)
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“…Then, force/torque feedback terms v f , ω τ should only consist of the integral of the force error (projected on the constrained direction) and the torque, so that differentiation of noisy force/torque measurements is avoided. A dynamic controller can be developed from the velocity controller following the steps described in our previous work [15].…”
Section: Summary and Discussionmentioning
confidence: 99%
See 2 more Smart Citations
“…Then, force/torque feedback terms v f , ω τ should only consist of the integral of the force error (projected on the constrained direction) and the torque, so that differentiation of noisy force/torque measurements is avoided. A dynamic controller can be developed from the velocity controller following the steps described in our previous work [15].…”
Section: Summary and Discussionmentioning
confidence: 99%
“…To further demonstrate the viability of the approach, we implemented the controller on a real velocity controlled robot platform (see [15], [16] for technical details of the robot), and let it open a cupboard door. See Figure 5 for an illustration of the setup.…”
Section: Methodsmentioning
confidence: 99%
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“…A dynamic controller based on the proposed reference velocities (5), (6) can be designed and applied at the joint torque level following the steps of our previous work [16]. However, if we assume a high frequency current control loop with compensation of the external forces and weak inertial dynamics, the theoretical analysis of this work is valid.…”
Section: A Controllermentioning
confidence: 99%
“…Winiarski, et al [29] applied a direct impedance controller and a local stiffness controller to a 7-DOF manipulator to robustly open doors. Karayiannidis, et al [30] proposed a dynamic force/velocity controller which adaptively estimated the door hinge's position in real time, thus properly regulating the forces and velocities in radial and tangential directions during opening doors. Guo, et al [31] simulated a hybrid position/force controller for a manipulator mounted to a wheeled platform to open doors.…”
Section: Introductionmentioning
confidence: 99%