Variable impedance control with virtual stiffness for human-robot cooperative peg-in-hole task
- Resource Type
- Conference
- Authors
- Tsumugiwa, T.; Yokogawa, R.; Hara, K.
- Source
- IEEE/RSJ International Conference on Intelligent Robots and Systems Intelligent robots and systems Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on. 2:1075-1081 vol.2 2002
- Subject
- Robotics and Control Systems
Computing and Processing
Impedance
Humans
Force control
Viscosity
Arm
Robot control
Character generation
Control systems
Delay effects
Educational robots
- Language
This paper presents a novel variable impedance control for a human-robot cooperative task. Cooperative positioning tasks cannot be performed easily using a conventional position based impedance controller. The proposed controller has a virtual stiffness term in order to make the cooperative positioning task easy and precise. It generates a virtual force in the positioning task using the virtual stiffness term. The virtual force helps the human operator to perform the positioning task easily. In order to confirm the usefulness of the proposed control, a cooperative peg-in-hole task was performed. Experimental results illustrate that the proposed control is effective for the human-robot cooperative task.