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Journal Articles

Inferring Human Control Intent Using Inverse Linear Quadratic Regulator With Output Penalty Versus Gain Penalty: Better Fit but Similar Intent

Heejin Yu, Ahmed Ramadan, Jacek Cholewicki, John M. Popovich, Jr., N. Peter Reeves, Joshua (Sung) H. You, Jongeun Choi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2024, 146(6): 061103.
Paper No: DS-23-1255
https://doi.org/10.1115/1.4065593
Published Online: July 16, 2024
View Article titled, Inferring Human Control Intent Using Inverse Linear Quadratic Regulator With Output Penalty Versus Gain Penalty: Better Fit but Similar Intent
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Topics: Control equipment, Errors, Feedback, Goodness-of-fit tests, Human-robot interaction, Motor controls, Optimal control, Optimization, Performance, Robotics
Includes: Supplementary data
Journal Articles

A Robust Impedance Controller for Improved Safety in Human–Robot Interaction

Curt A. Laubscher, Jerzy T. Sawicki
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2021, 143(9): 091004.
Paper No: DS-20-1460
https://doi.org/10.1115/1.4050504
Published Online: April 15, 2021
View Article titled, A Robust Impedance Controller for Improved Safety in Human–Robot Interaction
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Topics: Boundary layers, Control equipment, Signals, Sliding mode control, Switches, Safety, Human-robot interaction, Chatter
Journal Articles

Closed-Form Solution to Controller Design for Human-Robot Interaction

Bakir Lacevic, Paolo Rocco
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. March 2011, 133(2): 024501.
https://doi.org/10.1115/1.4003260
Published Online: February 11, 2011
View Article titled, Closed-Form Solution to Controller Design for Human-Robot Interaction
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Topics: Control equipment, Design, Human-robot interaction, Stability, Mechanical admittance, Robots
Journal Articles

An Approach to Telerobotic Manipulations

H. Kazerooni, C. L. Moore
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. September 1997, 119(3): 431–438.
https://doi.org/10.1115/1.2801275
Published Online: September 1, 1997
View Article titled, An Approach to Telerobotic Manipulations
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Topics: Closed loop systems, Dynamics (Mechanics), Human-robot interaction, Robotics, Robots, Stability, Stress