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— This paper presents a method for variable admittance control in human-robot cooperation tasks, that combines a human-like decision making process and an adaptation algorithm. A Fuzzy Inference System is designed that relies on the measured velocity and the force applied by the operator to modify on-line the damping of the robot admittance, based on expert(More)
In the design of a compliant admittance controller for physical human-robot interaction, it is necessary to ensure stable and effective cooperation. The stability of the admittance controller is mainly threatened by a stiff environment. Many methods that guarantee stability in arbitrary environments, impose conservative control gains that limit the(More)
In this paper, two admittance based control schemes for a power assisted lifting device are presented. This device can be used to hoist a heavy object interactively for reducing the operator's burden. The proposed system integrates an admittance controller with an inner control loop that regulates the velocity of the object. The admittance is the outer loop(More)
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