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A novel adaptive object impedance control strategy is presented for dual-arm cooperative humanoid manipulators. A general impedance scheme comprising internal impedance control and object impedance control is adopted, which aims at conferring a compliant behavior both in end-effector level and object lever. The adaptation law for the stiffness and damping of object impedance is derived from Lyapunov...
In this paper, we consider the peak-to-average power ratio (PAPR) reduction problem for orthogonal frequency-division multiplexing with offset quadrature amplitude modulation (OFDM/OQAM). In particular, the OFDM/OQAM signal is generated by summing over time-shifted OFDM/OQAM symbols, where successive symbols are interdependent with each other. The alternative-signal (AS) method, which directly leads...
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