Contact stiffness and damping estimation for robotic systems

International Journal of Robotics Research

Volumn 22, Issue 1, 2003, Pages 41-57

  Erickson, D ^a   Weber, M ^a   Sharf, I ^a  

^a MCGILL UNIVERSITY   (Canada)

Author keywords

Adaptive control; Contact dynamics; Contact parameters; Environment stiffness and damping; Estimation; Identification; Impedance control; Recursive least squares

Indexed keywords

DAMPING; FORCE CONTROL; MATHEMATICAL MODELS; MOTION PLANNING;

FORCE CONTROL STRATEGY;

ROBOTICS;

EID: 0038292083     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/0278364903022001004     Document Type: Conference Paper

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