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Robotics and Biomimetics

Table 7 Empirically decided VACA parameters for lifting light and heavy objects with the PARS

From: Cognition-based variable admittance control for active compliance in flexible manipulation of heavy objects with a power-assist robotic system

Control strategy

VACA parameters

m0 (kg)

xth (m)

k (s)

t (s)

T (s)

α (s−1)

VACA (light)

1.5

0.01

13.1

14.1

1.0

1.03

VACA (heavy)

10

0.05

0.5

1.5

1.0

3.1

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