An impedance control based framework for human-robot collaborative surface interaction and tooling

• Main Author: Sreekanth Kana
• Other Authors: Domenico Campolo
• Format: Thesis-Doctor of Philosophy
• Language: English
• Published: Nanyang Technological University 2020
• Subjects: Engineering::Mechanical engineering
• Online Access: https://hdl.handle.net/10356/137755
• Institution: Nanyang Technological University

The quality of industrial tooling tasks is highly influenced by the tool-surface interaction mechanism. Despite the advancement in the technologies, there exist tasks with cognitive aspects that are rather challenging for robots to handle autonomously, thus demanding the incorporation of human skil...