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In this paper, an impedance control strategy is proposed for a rigid robot collaborating with human by considering impedance learning and human motion intention estimation. The least square method is used in human impedance identification, and the robot can adjust its impedance parameters according to human impedance model for guaranteeing compliant collaboration. Neural networks (NNs) are employed...
In this work, we propose a method to adapt the robot's cost function, so that the human's control objective can be achieved with the help of the robot. We first employ game theory for linear systems and formulate the problem under study as a two-agent game. Then, we solve the problem of unknown human's cost function by developing an estimation method based on the measured interaction force. In particular,...
In this paper, we have developed a teleoperation method with novel features, such that the human operator could manipulate the telerobot using both physical and physiological means. Physiological studies have shown that our central neural system (CNS) is able to adapt muscle force, stiffness and damping to perform different tasks under various environments. However, there has been very little research...
Experimental and numerical studies were carried out to investigate the viscous hydrodynamic forces acting on a tanker model in oblique motion. Oblique towing tests with a KVLCC2 model were conducted in the towing tank of Shanghai Jiao Tong University(SJTU) in deep water. The lateral forces and yaw moments on the model at different drift angles were measured. The viscous flow around the tanker model...
Earthquake-induced structural pounding may result in considerable damage or even collapse of colliding structures during severe ground motions. The aim of the paper is to conduct a detailed investigation on pounding-involved transverse seismic response of bridges, paying a special attention to modeling the energy dissipation effects taking place during impact as well as observed in the structural...
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