Despite the existence of neural noise, which leads variability in motor commands, the central nervous system can effectively reduce movement variance at the end effector to meet task requirements. Although online correction based on feedback information is essential for reducing error, feedforward impedance control is another way to regulate motor variability. This Update Article reviews key st...

We show under mild assumptions that a composition of internally well-posed, impedance passive (or conservative) boundary control systems through Kirchhoff type connections is also an internally well-posed, impedance passive (resp., conservative) boundary control system. The proof is based on results of [21]. We also present an example of such composition involving Webster’s equation on a Y-shap...

This paper presents an experimental study on impedance control in both Cartesian and object level with adaptive friction compensation for dexterous robot hand based on joint torque feedback. To adaptively decrease the effects of high friction caused by complex transmission systems and joint coupling, a friction observer is proposed based on the extended Kalman filter (EKF) in this paper. A Cart...

Earth-moving machines such as hydraulic excavators are usually used for carrying out contact tasks. Impedance control can be employed as an approach for achieving compliant motion in such tasks. This paper describes a position-based impedance controller that has been developed in our laboratory for excavator-type manipulators, and presents supporting experimental results. First, the problem of ...