The Python Toolbox for Robotics
A tutorial on implementing an impedance control for a collaborative robot that can work together with humans.
Application and programming examples for the KUKA LBR iiwa 7 R800
Related paper: "Experimental Validation of an Actor-Critic Model Predictive Force Controller for Robot-Environment Interaction Tasks"
Robotics Book - Parallel Robots: Mechanics and Control Book
Impedance Control of Series Elastic Actuators
Supplementary material to a paper to the IEEE IROS 2016 conference (impedance control and disturbance observer for hydraulic robot arm)
Robot impedance controller using the ros2_controllers framework.
Set of cartesian controllers for ros2_control
Control of a bipedal walker
An interface to control a YASKAWA GP7-YRC1000 industrial robotic arm through a teleoperation method.
LATEX report of my literature study into stable variable impedance learning.
Transparency control framework based on inertial measurement units fixed on the user to a series elastic exoskeleton joint. This approach guarantees the robot’s transparent behavior without explicitly relying on force or human-robot interaction sensors.
Ibex: a unique unmanned ground vehicle with a dynamic wheelbase and an adaptive thrust based friction optimization scheme that aids in the traversal of steep slopes and slippery surfaces. The vehicle is capable of adapting itself to the surface topography using an impedance-based stabilization module to minimize the mechanical oscillatory transi…
Project in Advanced Robotics course project at SDU 21/22. Implementation of learning method for skills for arm robots based on GMM with Rieamannian Manifolds
ForceCAST from ALTAIR Robotics Laboratory adapted by the Legged Robotics Group (LegRo)
IX-HapticSight: open, safety-first Optical–Haptic Interaction Protocol for robots/XR. Maps vision→touch with consent-aware social gestures, tri-level hazard maps, force envelopes, state machine, culture profiles, sim scenes & tested ref code. MIT + Responsible Use.
A load cell measures the weight using strain gauges. The difference between the length of the load cell at one side of the cell will help in determining the weight that is applied to it. This will change the output impedance. The output impedance is integrated into a Wheatstone bridge where the difference of the output impedance determines and c…
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