Modeling, identification, and control of tendon-based actuation systems

IEEE Transactions on Robotics

Volumn 28, Issue 2, 2012, Pages 277-290

  Palli, Gianluca ^a   Borghesan, Gianni ^b   Melchiorri, Claudio ^a  

^a UNIVERSITY OF BOLOGNA   (Italy)

^b UNIVERSITY OF LEUVEN   (Belgium)

Author keywords

Compliant actuation; force control; friction modeling; robotic hands; tendon transmission

Indexed keywords

ACTUATION SYSTEMS; COMPLIANT ACTUATION; CONTROL STRATEGIES; DYNAMIC FRICTION; FRICTION EFFECT; FRICTION MODELING; NONLINEAR EFFECT; ROBOTIC DEVICES; STATIC FRICTION MODELS; TENSION DISTRIBUTION; TRANSMISSION SYSTEMS; VISCOELASTIC EFFECTS; VISCOELASTIC MODELS;

END EFFECTORS; FORCE CONTROL; ROBOTICS; STICTION; TENDONS;

IDENTIFICATION (CONTROL SYSTEMS);

EID: 84859753988     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2011.2171610     Document Type: Article

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