Constructive energy shaping based impedance control for a class of underactuated euler-lagrange systems

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 1387-1393

  Albu Schäffer, Alin ^a   Ott, Christian ^a   Hirzinger, Gerd ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

Energy shaping; Flexible joint robots; Impedance control; Passivity based control; Underactuated systems

Indexed keywords

ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; ELECTRIC IMPEDANCE; KINETIC ENERGY; POTENTIAL ENERGY;

ENERGY SHAPING; FLEXIBLE JOINT ROBOTS; IMPEDANCE CONTROL; PASSIVITY BASED CONTROL; UNDERACTUATED SYSTEMS;

MOBILE ROBOTS;

EID: 33846173374     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570309     Document Type: Conference Paper

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