Variable Admittance Control in Sliding Mode for Robust Physical Human–Robot Interaction
Intuitive and comfortable physical human–robot interaction (pHRI) can be realized by changing impedance/admittance parameters corresponding to human interaction. However, this dynamic adjustment may result in drastically changed system dynamics, which usually give rise to system instability. We intr...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-10-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/13/20/11219 |