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Emerging applications of robot systems that involve close physical interaction with human have opened up new challenges in robot control. For these applications, it is important to consider the stability and coordination of humanrobot interaction. While various control techniques have been developed for human-robot interaction, existing methods do not take the advantages of human ability in responding...
Task-space sensory feedback information such as visual feedback is used in many modern robot control systems as it improves robustness to model uncertainty. However, existing sensory feedback control schemes are only valid locally in a finite task space within a limited sensing zone where singularity of the Jacobian matrix is avoided. In this paper, the global stability problem of task-space sensory...
While much progress has been achieved in task-space control of robot, existing task-space sensory feedback control methods fail when the sensor is out of working range. In this paper, we propose an adaptive regional feedback control strategy that enables the robot to start from an initial position outside the field of view and leave the field of view during the movement. The robot kinematics is partitioned...
Singularity issue has been a long standing problem in task-space control of robot. It is commonly assumed in the theoretical analysis of task-space control system that the robot is operating in a finite task space such that singularity problem can be avoided. This limits the potential workspace of the robot when task-space control is employed. In this paper, a singularity-robust task-space controller...
It is interesting to observe from human visually guided tasks that visual feedback is not used for the entire movement, but only at end phases when our hand is near the target. We are able to move our hand from an initial position that is not within our field of view and transit smoothly and easily into visual feedback when the target is near. Inspired by this natural action, this paper presents a...
Behaviors in human reaching movement suggest that certain visually guided tasks consist of an initial movement without visual feedback, and a fine movement with visual feedback when our hand is near the target. Inspired by this phenomenon, we propose a new setpoint controller that only requires vision feedback when the end effector is near a desired position. The proposed controller consists of a...
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