A passivity based admittance control for stabilizing the compliant humanoid COMAN

IEEE-RAS International Conference on Humanoid Robots

Volumn , Issue , 2012, Pages 43-49

  Li, Zhibin ^a   Tsagarakis, Nikos G ^a   Caldwell, Darwin G ^a  

^a ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

ADMITTANCE CONTROL; COMPLIANT INTERACTION; CONTROL FRAMEWORK; EXPERIMENTAL VALIDATIONS; EXTERNAL PERTURBATIONS; GROUND REACTION FORCES; SERIES ELASTIC ACTUATORS; STABILIZATION CONTROL;

ANGULAR MOMENTUM; ANTHROPOMORPHIC ROBOTS; BIOPHYSICS; COMPLIANCE CONTROL; STABILIZATION;

ELASTICITY;

EID: 84878383048     PISSN: 21640572     EISSN: 21640580     Source Type: Conference Proceeding    
DOI: 10.1109/HUMANOIDS.2012.6651497     Document Type: Conference Paper

References (16)

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