Impedance control for variable stiffness mechanisms with nonlinear joint coupling

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2008, Pages 3796-3803

  Wimböck, Thomas ^a   Ott, Christian ^b   Albu Schäffer, Alin ^a   Kugi, Andreas ^c   Hirzinger, Gerd ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

^b UNIVERSITY OF TOKYO   (Japan)

^c VIENNA UNIVERSITY OF TECHNOLOGY   (Austria)

Author keywords

[No Author keywords available]

Indexed keywords

BIO-MIMETIC ROBOT; CONTROL LAWS; CONTROLLER PERFORMANCE; ELASTIC SYSTEMS; HUMAN MOTOR SKILLS; HUMAN ROBOT INTERACTIONS; IMPEDANCE CONTROL; IMPEDANCE CONTROLLERS; JOINT MOTION; NONLINEAR COUPLING; NONLINEAR JOINTS; OVERALL STIFFNESS; PHYSICAL INTERPRETATION; SAFETY ASPECTS; STIFFNESS VARIATIONS; TENDON DRIVEN; VARIABLE STIFFNESS MECHANISM;

HUMAN COMPUTER INTERACTION; INTELLIGENT ROBOTS; MOTORS; STIFFNESS;

CONTROLLERS;

EID: 69549101982     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2008.4651079     Document Type: Conference Paper

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