Passivity based control of hydraulic robot arms using natural Casimir functions: Theory and experiments

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

Volumn , Issue , 2008, Pages 538-544

  Sakai, Satoru ^a   Stramigioli, Stefano ^b  

^a CHIBA UNIVERSITY   (Japan)

^b UNIVERSITY OF TWENTE   (Netherlands)

Author keywords

[No Author keywords available]

Indexed keywords

ASYMPTOTIC STABILIZATION; BULK MODULUS; CASIMIR FUNCTIONS; HYDRAULIC ROBOTS; MODELING AND CONTROL; NEW MODEL; NUMERICAL SIMULATION; PARTIAL STABILIZATION; PASSIVITY BASED CONTROL; PORT-HAMILTONIAN SYSTEMS; STABILIZATION METHODS;

COMPUTER SIMULATION LANGUAGES; HYDRAULICS; INTELLIGENT ROBOTS; NUMERICAL METHODS; PASSIVATION; STABILIZATION;

HAMILTONIANS;

EID: 69549135368     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2008.4650730     Document Type: Conference Paper

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