Electrical impedance
Related papers: 20
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Electrical impedance, in the context of robotics and AI, refers to a system's dynamic resistance to motion or force — characterized by its mechanical stiffness, damping, and inertia properties. Rooted in the analogy between electrical and mechanical systems, impedance control is a foundational robotics technique that governs how a robot regulates the relationship between its applied forces and resulting motion, rather than controlling either force or position alone. This approach is critical when robots interact physically with their environments or with humans, as it allows compliant, safe, and adaptable behavior during contact. In practice, impedance control is implemented in robotic manipulators, exoskeletons, and collaborative robots to enable smooth transitions between free motion and constrained contact, force tracking, and variable stiffness actuation. Its importance grows in human-robot interaction, rehabilitation robotics, and dexterous manipulation, where rigid position control would be unsafe or impractical. Learning-based extensions allow robots to adaptively tune impedance parameters in response to task demands, mirroring how the human nervous system modulates limb stiffness to handle unstable or uncertain environments.
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The central nervous system stabilizes unstable dynamics by learning optimal impedance
Etienne Burdet, Rieko Osu, David W. Franklin, Theodore E. Milner, Mitsuo Kawato
Citations: 1116 • 2001
Impedance Control: An Approach to Manipulation: Part II—Implementation
Neville Hogan
Citations: 953 • 1985
A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots
Alin Albu‐Schäffer, Christian Ott, Gerd Hirzinger
Citations: 805 • 2007
Adaptive Neural Impedance Control of a Robotic Manipulator With Input Saturation
Wei He, Yiting Dong, Changyin Sun
Citations: 787 • 2015
Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction
Giovanni Tonietti, Riccardo Schiavi, Antonio Bicchi
Citations: 535 • 2006
Force Tracking Impedance Control of Robot Manipulators Under Unknown Environment
Seul Jung, T.C. Hsia, R.G. Bonitz
Citations: 472 • 2004
Variable Impedance Control of Redundant Manipulators for Intuitive Human–Robot Physical Interaction
Fanny Ficuciello, Luigi Villani, Bruno Siciliano
Citations: 436 • 2015
A Series Elastic- and Bowden-Cable-Based Actuation System for Use as Torque Actuator in Exoskeleton-Type Robots
Jan F. Veneman, R. Ekkelenkamp, R. Kruidhof, F.C.T. van der Helm, Herman van der Kooij
Citations: 433 • 2006
Stable execution of contact tasks using impedance control
Neville Hogan
Citations: 432 • 2005
On the Passivity-Based Impedance Control of Flexible Joint Robots
Christian Ott, Alin Albu‐Schäffer, Andreas Kugi, G. Hirzinger
Citations: 417 • 2008
Hybrid impedance control of robotic manipulators
Robert J. Anderson, Mark W. Spong
Citations: 416 • 1988
Adaptive variable impedance control for dynamic contact force tracking in uncertain environment
Jinjun Duan, Yahui Gan, Ming Chen, Xianzhong Dai
Citations: 395 • 2018
Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions
Chenguang Yang, Gowrishankar Ganesh, Sami Haddadin, Sven Parusel, Alin Albu‐Schäffer, Etienne Burdet
Citations: 392 • 2011
Admittance control for physical human–robot interaction
Arvid QL Keemink, Herman van der Kooij, Arno H. A. Stienen
Citations: 363 • 2018
VSA-II: a Novel Prototype of Variable Stiffness Actuator for Safe and Performing Robots Interacting with Humans
Riccardo Schiavi, Giorgio Grioli, Soumen Sen, Antonio Bicchi
Citations: 360 • 2008
Biomimetic Tactile Sensor Array
Nicholas Wettels, Veronica J. Santos, Roland S. Johansson, Gerald E. Loeb
Citations: 343 • 2008
Series elastic actuators for high fidelity force control
Jerry Pratt, Ben Krupp, Chris Morse
Citations: 342 • 2002
Cartesian Impedance Control of Redundant and Flexible-Joint Robots
Christian Ott
Citations: 339 • 2008
Learning variable impedance control
Jonas Buchli, Freek Stulp, Evangelos A. Theodorou, Stefan Schaal
Citations: 329 • 2011
Variable impedance control of a robot for cooperation with a human
Ryojun Ikeura, Hikaru Inooka
Citations: 326 • 2002