Journal ArticleDOI
Robust control of dynamically interacting systems
J.E. Colgate,Neville Hogan +1 more
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This paper describes an approach to the design of ‘interaction controllers’ and contrasts this with an Approach to the Design of Approaches toDynamic interaction with the environment is fundamental to the process of manipulation.Abstract:
Dynamic interaction with the environment is fundamental to the process of manipulation. This paper describes an approach to the design of ‘interaction controllers’ and contrasts this with an approa...read more
Citations
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Oh, design of robot f lation on dynamic environments
Zhi-wei Luo,Masami Ito +1 more
TL;DR: In this paper, a Q model matching approach for the control design of robot munipulators is presented, and the problems of how to select the reference model according to environment dynamics and considering its dynamic uncertainty, the contact discontinuity and robot actuator's output /imitcalion, and how to implement such reference model in robot control system are analyzed.
Journal ArticleDOI
Switchable compliant actuator with fast stiffness modulation and energy efficient power transmission
Wonseok Shin,Jung Kim +1 more
TL;DR: In this paper , a switchable compliant actuator (Swi-CA) is proposed, capable of fast stiffness modulation over a wide range and energy-efficient equilibrium position control.
Book ChapterDOI
Cascade Control for SEAs and Its Performance Analysis
TL;DR: This work addresses the challenge of cascade control severing as the same purpose as that of VSAs’ without losing favorable advantages of SEAs to imitate humanoid manipulation by addressing stability and passivity constraints.
References
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Book
Linear Optimal Control Systems
Huibert Kwakernaak,Raphael Sivan +1 more
TL;DR: In this article, the authors provide an excellent introduction to feedback control system design, including a theoretical approach that captures the essential issues and can be applied to a wide range of practical problems.
Book
Introduction to physical system dynamics
R. Robert Rosenberg,Dean Karnopp +1 more
TL;DR: The SYSKIT is a linear system software toolkit that contains a highly integrated set of programs with applications to system dynamics, controls and vibrations.
Dissertation
Practical robustness measures in multivariable control system analysis
TL;DR: A very general robustness theorem is presented from which all of the robustness tests dealing with specific model errors may be derived and are able to guarantee feedback system stability in the face of model errors of larger magnitude.
Dissertation
Stability robustness of impedance controlled manipulators coupled to passive environments
TL;DR: Thesis. as discussed by the authors, Mass. Institute of Technology, Dept. of Mechanical Engineering, Boston, Massachusetts, U.S.A. (M.S., 1987).
Practical robustness measures in multivariable control system analysis. Ph.D. Thesis
TL;DR: In this paper, the robustness of linear time invariant feedback control systems with respect to model uncertainty is considered using frequency domain criteria, and robustness tests are unified under a common framework based on the nature and structure of model errors.