Robots driven by compliant actuators: Optimal control under actuation constraints

IEEE Transactions on Robotics

Volumn 29, Issue 5, 2013, Pages 1085-1101

  Braun, David J ^a   Petit, Florian ^b   Huber, Felix ^b   Haddadin, Sami ^b   Van Der Smagt, Patrick ^c   Albu Schaffer, Alin ^b   Vijayakumar, Sethu ^a  

^a UNIVERSITY OF EDINBURGH   (United Kingdom)

^b GERMAN AEROSPACE CENTER DLR   (Germany)

^c TECHNICAL UNIVERSITY OF MUNICH   (Germany)

Author keywords

Dynamics; optimal impedance control; redundant robots; variable impedance actuation

Indexed keywords

CONSTRAINED SYSTEMS; EXPERIMENTAL CONDITIONS; HARDWARE EXPERIMENT; IMPEDANCE CONTROL; REDUNDANT ROBOT; SIMULATION STUDIES; STIFFNESS OPTIMIZATIONS; VARIABLE IMPEDANCE ACTUATIONS;

DYNAMICS; HARDWARE; OPTIMIZATION; STIFFNESS;

ACTUATORS;

EID: 84885596260     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2013.2271099     Document Type: Article

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