@conference{
	11580_71247,
	author = {Caccavale, F. and Chiacchio, P. and DE SANTIS, A. and Marino, A. and Villani, L.},
	title = {An Experimental Investigation on Impedance Control for Dual-Arm Cooperative Systems},
	year = {2007},
	publisher = {Institute of Electrical and Electronics Engineers ( IEEE )},
	booktitle = {2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics},
	abstract = {In this paper, an experimental comparison between different impedance control approaches for cooperative manipulators is presented. The experiments have been performed on a dual-arm setup composed by two six-dof industrial manipulators carrying a common object. A general impedance control scheme is adopted, which encompasses a centralized impedance control strategy aimed at conferring a compliant behavior at the object level, and a decentralized impedance control, enforced at the end-effector level, aimed at avoiding large internal loading of the object. The scheme allows individual activation/deactivation of each impedance strategy. The experimental investigation concerns the four different controller configurations that can be achieved by activating/deactivating the single impedance controllers.},
	keywords = {Industrial robotics , impedance control , force feedback},
	doi = {10.1109/AIM.2007.4412434},
	pages = {180--185}
}

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