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The REPARTI Seminars at Université Laval are held on Fridays at 11:30 a.m.
Please see the program for more details.
Dec 14 2017 1:30PM
Seminar
Deep 6-DOF Tracking
Dec 15 2017 11:00AM
Seminar
Building and Evaluating Data-Driven Neural Dialogue Systems

 

 

 

REPARTI

MIVIM

Apr 25 2014 11:30AM

Pascal Labrecque
Laboratoire de robotique
Dép. de génie mécanique, Université Laval


Robotic Force Amplification with Free Space Motion Capability



Abstract

A control algorithm based on admittance regulation is proposed for human-robot cooperative force amplification. The controller is particularly suitable for physical interaction in both free space and constrained motions thanks to an active transition between the two modes. It is also able to cancel possible high frequency oscillations due to the contact with the environment. The mathematical analysis of the controller and some preliminary experimental results on a 1-dof test-bench are going to be presented.




     
   
   

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