... mobile base and a redundant manipulator in response to force-amplitude-based human guidance. Design/methodology/approach The approach integrates state-dependent dynamical systems for autonomous task encoding with a variable admittance control scheme for reactive interactions. To address the distinct...

... 15 07 2026 © 2026 Emerald Publishing Limited 2026 Emerald Publishing Limited Licensed re-use rights only Peg-in-hole assembly Visuotactile sensing Unstructured environment Jamming-free strategy Admittance control Basic and Applied Basic Research Foundation of Guangdong...

.../approach An augmented reality ( AR ) and virtual fixture-based assisted assembly method is proposed. It reconstructs the environment in real-time using image and point cloud processing for accurate panel localization, establishes a spatial pose guidance virtual fixture with admittance control...

.... The admittance controller is then used to make a robot follow the motion and stiffness curves. The authors then use the policy improvement with path integrals (PI2) algorithm to optimize the robot motion and stiffness curves iteratively. Findings The performance of the proposed method is evaluated on an UR10...

... in airplane wings or thin, soft materials. The purpose of this study is to develop a novel adaptive force-tracking admittance control scheme aimed at achieving a faster response rate with higher tracking accuracy for robot force control. Design/methodology/approach In the proposed method, the traditional...

...Kaixin Li; Ye He; Kuan Li; Chengguo Liu Purpose With the increasing demands of industrial applications, it is imperative for robots to accomplish good contact-interaction with dynamic environments. Hence, the purpose of this research is to propose an adaptive fractional-order admittance control...

... 15 02 2022 18 02 2022 © Emerald Publishing Limited 2022 Emerald Publishing Limited Licensed re-use rights only Fuzzy control Adaptive control Admittance control Force overshoot Robot force control With the development of robotics, the contact process control between...

... (SMCDO), in which a new saturation function is designed to replace the traditional signal function of sliding mode control (SMC) law so as to mitigate chatter. The outer loop is the admittance control to regulate the dynamic behaviours of the elbow joint, i.e. its impedance. The simulation is carried out...

..., a kinematic analysis of the PARR is introduced, and the mechanism ensures that the rotation centre of the ankle joint complex (AJC) coincides with robot’s rotation centre. Then, a passive compliance training strategy based on admittance control is described in detail and is implemented on our PARR...

... the admittance control is used to realize the “soft” capturing of space end-effector to simulate the real situation in space. Findings – With the gravity compensation, the influence of gravity is almost eliminated and the results meet the requirements of the experiment. In the ground experiment...