Optimal passive dynamics for torque/force control

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 2149-2154

  Kemper, Kevin ^a   Koepl, Devin ^a   Hurst, Jonathan ^a  

^a OREGON STATE UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTIVE CONTROL; ACTUATOR SYSTEM; BANDWIDTH LIMIT; EXACT SOLUTION; MECHANICAL SYSTEMS; PERFORMANCE LIMITATIONS; PHYSICAL LIMITATIONS; PHYSICAL SYSTEMS; ROBOTIC MANIPULATION; SOFTWARE CONTROL; TORQUE LIMITS; UNCERTAIN ENVIRONMENTS;

ACTUATORS; FORCE CONTROL; MECHANICAL ENGINEERING; OPTIMIZATION; ROBOTICS; ROBOTS;

DYNAMICS;

EID: 77955784919     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509924     Document Type: Conference Paper

References (16)

1. R. McN. Alexander. Three uses for springs in legged locomotion. The International Journal of Robotics Research, 9(2):53-61, April 1990.
2. Giovanni A. Cavagna. Elastic bounce of the body. Journal of Applied Physiology, 29(3):279-282, 1970.
3. Chee-Meng Chew, Geok-Soon Hong, and Wei Zhou. Series damper actuator: a novel force/torque control actuator. In 2004 4th IEEE/RAS International Conference on Humanoid Robots, 2004.
4. Robert J. Full and Claire T. Farley. Musculoskeletal dynamics in rhythmic systems - a comparative approach to legged locomotion. In J. M. Winters and P. E. Crago, editors, Biomechanics and Neural Control of Posture and Movement. Springer-Verlag, New York, 2000.
5. Jonathan W. Hurst and Alfred A. Rizzis. Series compliance for an efficient running gait. IEEE Robotics & Automation Magazine, 15:42-51, September 2008.
6. J.W. Hurst, D. Hobbelen, and A. Rizzi. Series elastic actuation: Potential and pitfalls. In International Conference on Climbing and Walking Robots, 2004.
7. T. A. McMahon. The role of compliance in mammalian running gaits. Journal of Experimental Biology, 115:263-282, 1985.
8. Gill A. Pratt and Matthew M. Williamson. Series elastic actuators. In IEEE International Conference on Intelligent Robots and Systems, volume 1, pages 399-406, 1995.
9. Marc Raibert. Legged Robots That Balance. MIT Press, Cambridge, Mass., 1986.
10. David William Robinson. Design and Analysis of Series Elasticity in Closed-Loop Actuator Force Control. PhD thesis, Massachusetts Institute of Technology, June 2000.
11. J. De Schutter. A study of active compliant motion control methods for rigid manipulators based on a generic control scheme. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 1060-1065, 1987.
12. Jonathon W. Sensinger and Richard F. Weir. Design and analysis of a non-backdrivable series elastic actuator. In International Conference on Rehabilitation Robotics, 2005.
13. Jonathon W. Sensinger and Richard F. Weir. Improvements to series elastic actuators. In Proceedings of the 2nd IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, 2006.
14. N.G. Tsagarakis, Matteo Laffranchi, Bram Vanderborght, and D.G. Caldwell. A compact soft actuator unit for small scale human friendly robots. In IEEE International Conference on Robotics and Automation, 2009.
15. Daniel E. Whitney. Force feedback control of manipulator fine motions. In Joint Automatic Control Confrence, pages 687-693, 1976.
16. Gordon Wyeth. Demonstrating the safety and performance of a velocity sourced series elastic actuator. In IEEE International Conference on Robotics and Automation.