Design of redundant drive joints with double actuation using springs in the second actuator to avoid excessive active torques

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 805-812

  Nagai, Kiyoshi ^a   Dake, Yuichiro ^a   Shiigi, Yasuto ^a   Loureiro, Rui C V ^b   Harwin, William S ^b  

^a RITSUMEIKAN UNIVERSITY   (Japan)

^b UNIVERSITY OF READING   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

BASIC IDEA; BASIC STRUCTURE; COMPLIANT MOTION; CONTROLLER DESIGNS; DESIGN PARAMETERS; IMPEDANCE CONTROL; INERTIA PROPERTIES; LARGE TORQUE; PROBLEM STATEMENT; PROTOTYPE DESIGNS; REDUNDANT DRIVE; STANDARD FORM;

ACTUATORS; STRUCTURAL DESIGN;

ROBOTICS;

EID: 77955832707     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509902     Document Type: Conference Paper

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