Journal ArticleDOI
Impedance control of series elastic actuators: Passivity and acceleration-based control
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TLDR
In this article, an overview of existing impedance control solutions for series elastic joints and derive the passivity characterizations that are still missing in the literature, thus providing a complete and coherent overview of the existing solutions, highlighting the advantages of impedance control based on positive acceleration feedback showing improved stability robustness and impedance accuracy with respect to existing solutions.About:
This article is published in Mechatronics.The article was published on 2017-11-01. It has received 70 citations till now. The article focuses on the topics: Impedance control & Passivity.read more
Citations
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Journal ArticleDOI
Collaborative Robotics: A Survey
TL;DR: The survey is intended to delineate an interpretation key for the design of collaborative robotics solution that explains the relationship among all relevant factors: actuation, control, safety, physical interaction, usability, and productivity.
Posted Content
Variable impedance control and learning -- A review
TL;DR: This survey presents the state-of-the-art of approaches devoted to variable impedance control from control and learning perspectives (separately and jointly), and proposes a new taxonomy for mechanical impedance based on variability, learning, and control.
Journal ArticleDOI
Variable Impedance Control and Learning-A Review.
TL;DR: In this article, the authors present the state-of-the-art approaches devoted to variable impedance control from control and learning perspectives (separately and jointly) and propose a new taxonomy for mechanical impedance based on variability, learning, and control.
Journal ArticleDOI
Active Impedance Control of Bioinspired Motion Robotic Manipulators: An Overview
TL;DR: An overview of impedance control strategies including standard and extended control schemes is presented and attention is paid to variable impedance control while considering the possible control schemes, the performance, stability, and the integration of constant compliant elements with the host robot.
Journal ArticleDOI
A Rationale for Acceleration Feedback in Force Control of Series Elastic Actuators
Andrea Calanca,Paolo Fiorini +1 more
TL;DR: This paper formally motivates improved performance robustness and transparency exactly as if using a softer and lighter actuator in SEA force control using a theoretical foundation for acceleration feedback (AF) inSEA force control.
References
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Proceedings ArticleDOI
Series elastic actuators
TL;DR: It is proposed that for natural tasks, zero motion force bandwidth isn't everything, and incorporating series elasticity as a purposeful element within the actuator is a good idea.
Book
L2-Gain and Passivity Techniques in Nonlinear Control
TL;DR: In this article, a small gain and passivity of input-output maps are discussed. But the authors focus on the Hamiltonian system as passive systems and do not consider the Hamilton-Jacobi Inequalities.
Journal ArticleDOI
Stable haptic interaction with virtual environments
Richard Adams,Blake Hannaford +1 more
TL;DR: By decoupling the haptic display control problem from the design of virtual environments, the use of a virtual coupling network frees the developer of haptic-enabled virtual reality models from issues of mechanical stability.
Journal ArticleDOI
A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots
TL;DR: In this article, a general passivity-based framework for the control of flexible joint robots is described, and the relations between the individual contributions are highlighted, and an overview of several applications are given in which the controllers have been applied.