Adaptive-constrained admittance control for physical human–robot interaction
Transactions of the Institute of Measurement and Control
Published online on January 27, 2025
Abstract
Transactions of the Institute of Measurement and Control, Volume 48, Issue 7, Page 1223-1237, April 2026.
In this paper, an adaptive constrained admittance control scheme is proposed, which can effectively solve physical human–robot interaction (pHRI) tasks with output constraints. To ensure the safety of robot behavior, the constraint controller is designed ...
In this paper, an adaptive constrained admittance control scheme is proposed, which can effectively solve physical human–robot interaction (pHRI) tasks with output constraints. To ensure the safety of robot behavior, the constraint controller is designed ...