Towards Biological Joint Impedance Estimation – ICORR 2025 Presentation | SWAG Project
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Advancing Dynamic Robot Interactions with Impedance Control
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Low-Impedance Displacement Sensors for Intuitive Physical Human-Robot Interaction This video demonstrates the physical interaction between a human user and a 5-dof robot equipped with two 3-dof passive sensing shells mounted on the links. There are no force/torque sensors. The motion of the passive shells is measured using encoders and used to guide the motion of the robot. It can be observed that the robot responds very intuitively to the input motion of the user and that the interaction impeda
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"Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators" Riccardo Parosi, Mattia Risiglione, Darwin G. Caldwell, Claudio Semini, Victor Barasuol We propose a control pipeline for SAG (Searching, Approaching, and Grasping) of objects, based on a decoupled arm kinematic chain and impedance control, which integrates image-based visual servoing (IBVS). The kinematic decoupling allows for fast end-effector motions and recovery that leads to ro
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A Chinese research team has developed a modular, flexible lower-limb exoskeleton robot with broad potential applications, including mountaineering, smart elderly care, medical rehabilitation and outdoor sports. #GLOBALink | China Xinhua News
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