Gain Scheduling Control for a Class of Variable Stiffness Actuators Based on Lever Mechanisms
暂无分享,去创建一个
Nikolaos G. Tsagarakis | Darwin G. Caldwell | Gustavo A. Medrano-Cerda | Irene Sardellitti | Amir Jafari | D. Caldwell | I. Sardellitti | N. Tsagarakis | A. Jafari | G. Medrano-Cerda
[1] R. E. Kalman,et al. Contributions to the Theory of Optimal Control , 1960 .
[2] Gene F. Franklin,et al. Feedback Control of Dynamic Systems , 1986 .
[3] M. Spong. Modeling and Control of Elastic Joint Robots , 1987 .
[4] M. Athans,et al. Gain Scheduling: Potential Hazards and Possible Remedies , 1992, 1991 American Control Conference.
[5] Christopher G. Atkeson,et al. Constructive Incremental Learning from Only Local Information , 1998, Neural Computation.
[6] Wilson J. Rugh,et al. Research on gain scheduling , 2000, Autom..
[7] Antonio Bicchi,et al. Compliant design for intrinsic safety: general issues and preliminary design , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).
[8] J. Corres,et al. Instantaneous speed and disturbance torque observer using nonlinearity cancellation of shaft encoder , 2002, 2002 IEEE 33rd Annual IEEE Power Electronics Specialists Conference. Proceedings (Cat. No.02CH37289).
[9] Antonio Bicchi,et al. Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.
[10] M. Dahleh. Laboratory for Information and Decision Systems , 2005 .
[11] Ludovic Righetti,et al. Programmable central pattern generators: an application to biped locomotion control , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..
[12] Koichi Koganezawa,et al. Antagonistic control of multi-DOF joint by using the actuator with non-linear elasticity , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..
[13] Stephen P. DeWeerth,et al. Novel Nonlinear Elastic Actuators for Passively Controlling Robotic Joint Compliance , 2007 .
[14] Bram Vanderborght,et al. MACCEPA, the mechanically adjustable compliance and controllable equilibrium position actuator: Design and implementation in a biped robot , 2007, Robotics Auton. Syst..
[15] G. Hirzinger,et al. A new variable stiffness design: Matching requirements of the next robot generation , 2008, 2008 IEEE International Conference on Robotics and Automation.
[16] Martin Buss,et al. Compliant actuation of rehabilitation robots , 2008, IEEE Robotics & Automation Magazine.
[17] Alessandro De Luca,et al. On the feedback linearization of robots with variable joint stiffness , 2008, 2008 IEEE International Conference on Robotics and Automation.
[18] Sungchul Kang,et al. Design of a robot joint with variable stiffness , 2008, 2008 IEEE International Conference on Robotics and Automation.
[19] Jan F. Veneman,et al. The Effects on Kinematics and Muscle Activity of Walking in a Robotic Gait Trainer During Zero-Force Control , 2008, IEEE Transactions on Neural Systems and Rehabilitation Engineering.
[20] Giorgio Grioli,et al. VSA-II: a novel prototype of variable stiffness actuator for safe and performing robots interacting with humans , 2008, 2008 IEEE International Conference on Robotics and Automation.
[21] Nikolaos G. Tsagarakis,et al. MACCEPA 2.0: Adjustable compliant actuator with stiffening characteristic for energy efficient hopping , 2009, 2009 IEEE International Conference on Robotics and Automation.
[22] Bram Vanderborght,et al. Proxy-based Sliding Mode Control of a Planar Pneumatic Manipulator , 2009, Int. J. Robotics Res..
[23] Andrej Gams,et al. On-line learning and modulation of periodic movements with nonlinear dynamical systems , 2009, Auton. Robots.
[24] Alessandro De Luca,et al. Nonlinear decoupled motion-stiffness control and collision detection/reaction for the VSA-II variable stiffness device , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[25] Jae-Bok Song,et al. Hybrid dual actuator unit: A design of a variable stiffness actuator based on an adjustable moment arm mechanism , 2010, 2010 IEEE International Conference on Robotics and Automation.
[26] Nikolaos G. Tsagarakis,et al. A novel actuator with adjustable stiffness (AwAS) , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[27] Marc Bodson,et al. Adaptive Algorithms for the Rejection of Sinusoidal Disturbances Acting on Unknown Plants , 2010, IEEE Transactions on Control Systems Technology.
[28] Stefano Stramigioli,et al. Modeling and design of energy efficient variable stiffness actuators , 2010, 2010 IEEE International Conference on Robotics and Automation.
[29] Alin Albu-Schäffer,et al. Dynamic modelling and control of variable stiffness actuators , 2010, 2010 IEEE International Conference on Robotics and Automation.
[30] Nikolaos G. Tsagarakis,et al. A new variable stiffness actuator (CompAct-VSA): Design and modelling , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[31] Alin Albu-Schäffer,et al. State feedback damping control for a multi DOF variable stiffness robot arm , 2011, 2011 IEEE International Conference on Robotics and Automation.
[32] Gianluca Palli,et al. Output-Based Control of Robots with Variable Stiffness Actuation , 2011, J. Robotics.
[33] Stefano Stramigioli,et al. Energy-Efficient Variable Stiffness Actuators , 2011, IEEE Transactions on Robotics.
[34] Nikolaos G. Tsagarakis,et al. Exploiting natural dynamics for energy minimization using an Actuator with Adjustable Stiffness (AwAS) , 2011, 2011 IEEE International Conference on Robotics and Automation.
[35] Nikolaos G. Tsagarakis,et al. A position and stiffness control strategy for variable stiffness actuators , 2012, 2012 IEEE International Conference on Robotics and Automation.
[36] Nikolaos G. Tsagarakis,et al. On-line estimation of variable stiffness in flexible robot joints , 2012, Int. J. Robotics Res..
[37] N. G. Tsagarakis,et al. A Novel Intrinsically Energy Efficient Actuator With Adjustable Stiffness (AwAS) , 2013, IEEE/ASME Transactions on Mechatronics.
[38] Nikolaus Correll,et al. C-FOREST: Parallel Shortest Path Planning With Superlinear Speedup , 2013, IEEE Transactions on Robotics.
[39] Nikos G. Tsagarakis,et al. A New Actuator With Adjustable Stiffness Based on a Variable Ratio Lever Mechanism , 2014, IEEE/ASME Transactions on Mechatronics.
[40] M. Hoagland,et al. Feedback Systems An Introduction for Scientists and Engineers SECOND EDITION , 2015 .