Yi Zhang

Sensorless Contact Force Estimation and Adaptive Variable-Damping Compliant Control for Biomimetic Robotic Arm

To address contact force estimation and compliant control for biomimetic robotic arms interacting with uncertain environments, an adaptive variable-damping impedance control method based on a fuzzy-controlled forgetting-factor strong tracking Kalman filter (FSKF) is proposed. The proposed method improves the convention...