A decoupled impedance observer for a variable stiffness robot

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 5548-5553

  Serio, Alessandro ^a,b   Grioli, Giorgio ^a   Sardellitti, Irene ^b   Tsagarakis, Nikos G ^b   Bicchi, Antonio ^a,b  

^a UNIVERSITY OF PISA   (Italy)

^b ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

ALTERNATIVE APPROACH; CLOSED LOOPS; ESTIMATION ALGORITHM; IMPEDANCE CONTROL; MECHANICAL STIFFNESS; MODEL UNCERTAINTIES; REAL TIME MEASUREMENTS; STANDARD PROCEDURES; TIME VARYING; VARIABLE IMPEDANCE; VARIABLE STIFFNESS;

ACTUATORS; ESTIMATION; STIFFNESS; UNCERTAINTY ANALYSIS;

ROBOTICS;

EID: 84871689802     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5980158     Document Type: Conference Paper

References (12)

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