Robust disturbance estimation for human-robotic comanipulation

DOI10.1002/RNC.2963MaRDI QIDQ2925112zbMATH OpenOpenAlexFDO

Authors S. Lichiardopol, N. van de Wouw, H. Nijmeijer

Publication date 20 October 2014

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rnc.2963

zbMATH Keywords

force-sensor-less robotic manipulatorshuman-robot comanipulation setupload-carrying robot devices

Mathematics Subject Classification ID

Agent technology and artificial intelligence (68T42) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Estimation and detection in stochastic control theory (93E10)

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Cites work

• Bilateral teleoperation: An historical survey
• Input-to-state stability for discrete-time nonlinear systems
• Lyapunov-based nonlinear disturbance observer for serial n-link robot manipulators
• On characterizations of the input-to-state stability property
• On polytopic inclusions as a modeling framework for systems with time-varying delays

Cited in

(5)

• Adaptive stiffness estimation for compliant robotic manipulation using stochastic disturbance models
• An adaptive arm's mechanical impedance estimator for rehabilitation robots without force and acceleration sensors
• Disturbance estimation for robotic systems using continuous integral sliding mode observer
• On the robustness of force estimation methods for robot manipulators: an experimental study
• A high-order finite-time observer for external force estimation of collaborative robots

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