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4 papers

2008Robotics and Autonomous Systems, vol. 56, no. 3, pp. 241-252, DOI: 10.1016/j.robot.2007.08.005

Safety in human-robot interaction: a survey

Bruno Siciliano, Alberto De Santis

Finding: They show that combining force/torque sensors with adaptive control can significantly reduce risks, and existing standards (e.g., ISO) provide a solid framework.

safety collaborative robots

2004International Journal of Humanoid Robotics, vol. 1, no. 1, pp. 157-173, DOI: 10.1142/S0219843604000083

Zero-moment point – thirty five years of its life

Branislav Borovac, Miomir Vukobratović

Finding: ZMP has become a cornerstone of bipedal stability control, and many successful algorithms are based on it.

ZMP balance

2000Industrial Robot: An International Journal, vol. 27, no. 4, pp. 278-285, DOI: 10.1108/01439910010334289

Force control in robotic manipulation: a review

J. Norberto Pires

Finding: Impedance control is better suited for soft environments, while hybrid control is preferred for rigid surfaces; the choice depends on the application.

force control impedance

1942Transactions of the American Society of Mechanical Engineers, vol. 64, no. 8, pp. 759-768

Optimum Settings for Automatic Controllers

Nathaniel B. Nichols, John G. Ziegler

Finding: The Ziegler-Nichols methods quickly became industry standard for PID tuning and are still used as a good starting point.

PID Ziegler-Nichols