Concepedia

Task-space Impedance Control

Task-Space Impedance Control is a control strategy in robotic systems that regulates the dynamic interaction forces between a robot and its environment by imposing desired impedance characteristics—specifying the relationship between task-space accelerations, velocities, and forces—thereby enabling compliant, stable, and adaptive behavior with respect to external contacts and disturbances.

23

Publications

873

Citations

80

Authors

48

Institutions

Publications per year

2017–2026

14

Parents

Publications

23

Adaptive-Constrained Impedance Control for Human–Robot Co-Transportation

Xinbo Yu, Bin Li, Wei He et al. · IEEE Transactions on Cybernetics · 2021 · 173 citations

, , +17

Robust hybrid impedance control of robot manipulators

G.J. Liu, A.A. Goldenberg · 2002 · 108 citations

, , +17

Impedance Behaviors for Two-handed Manipulation: Design and Experiments

Thomas Wimböck, Christian Ott, Gerd Hirzinger · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · 2007 · 84 citations

, , +17

Generalized impedance control of robot for assembly tasks requiring compliant manipulation

S.P. Chan, Hwee Choo Liaw · IEEE Transactions on Industrial Electronics · 1996 · 60 citations

, , +17

Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning

Yongliang Yang, Zihao Ding, Rui Wang et al. · IEEE/CAA Journal of Automatica Sinica · 2021 · 51 citations

, , +17

1–5 of 23

Authors

80

  1. AB
    Antonio Bicchi

    University of Pisa, Italy

    2 publications · 83 citations

    2

    h-index

  2. JL
    Johannes Lachner

    KUKA (Germany), Germany

    2 publications · 60 citations

    2

    h-index

  3. YO
    Yonghwan Oh

    Korea Institute of Science and Technology, South Korea

    2 publications · 28 citations

    2

    h-index

  4. AA
    Arash Ajoudani

    Italian Institute of Technology, Italy

    2 publications · 83 citations

    2

    h-index

  5. SC
    S.P. Chan

    Nanyang Technological University, Singapore

    2 publications · 73 citations

    2

    h-index

1–5 of 80

Institutions

48

  1. Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)

    Cologne, Germany

    3 h-index

    5 publications

    313 citations

  2. KUKA (Germany)

    Augsburg, Germany

    2 h-index

    4 publications

    120 citations

  3. University of Twente

    Enschede, The Netherlands

    2 h-index

    5 publications

    149 citations

  4. Nanyang Technological University

    Singapore, Singapore

    2 h-index

    4 publications

    146 citations

  5. Italian Institute of Technology

    Genoa, Italy

    2 h-index

    4 publications

    166 citations

  6. Massachusetts Institute of Technology

    Cambridge, United States

    2 h-index

    5 publications

    147 citations

  7. Centre National de la Recherche Scientifique

    Paris, France

    2 h-index

    4 publications

    94 citations

  8. Shandong Institute of Automation

    Jinan, China

    2 h-index

    2 publications

    224 citations

1–8 of 48

Venues

  1. IEEE Robotics and Automation Letters

    3 publications · 81 citations

    3

    h-index

  2. IEEE Transactions on Robotics

    2 publications · 60 citations

    2

    h-index

  3. IEEE Transactions on Cybernetics

    1 publications · 173 citations

    1

    h-index

  4. Advanced Robotics

    1 publications · 13 citations

    1

    h-index

  5. Journal of the Robotics Society of Japan

    1 publications · 11 citations

    1

    h-index

1–5