A Circuit-Theoretic Analysis of Robot Dynamics and Control

@inproceedings{Arimoto1999ACA,
  title={A Circuit-Theoretic Analysis of Robot Dynamics and Control},
  author={Suguru Arimoto},
  year={1999}
}
This chapter aims to solve the problem of making robot arms and mechanical hands acquire the ability to manipulate things smoothly and dexterously without using a complicated mathematical model of nonlinear dynamics pertaining to robot tasks. Such abilities are related to adaptive control, iterative learning, and impedance matching when robots manipulate soft and deformable objects or touch a rigid object with their soft fingers. These abilities can be realized in robots by devising… CONTINUE READING