On the role of robot configuration in Cartesian stiffness control
暂无分享,去创建一个
[1] E. Bizzi,et al. Neural, mechanical, and geometric factors subserving arm posture in humans , 1985, The Journal of neuroscience : the official journal of the Society for Neuroscience.
[2] Antonio Bicchi,et al. On the mobility and manipulability of general multiple limb robots , 1995, IEEE Trans. Robotics Autom..
[3] Alin Albu-Schäffer,et al. Soft robotics: what Cartesian stiffness can obtain with passively compliant, uncoupled joints? , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).
[4] Bruno Siciliano,et al. Global task space manipulability ellipsoids for multiple-arm systems , 1991, IEEE Trans. Robotics Autom..
[5] Damien Chablat,et al. Enhanced stiffness modeling of manipulators with passive joints , 2011, ArXiv.
[6] Nikolaos G. Tsagarakis,et al. A manipulation framework for compliant humanoid COMAN: Application to a valve turning task , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.
[7] Nikolaos G. Tsagarakis,et al. TeleImpedance: Exploring the role of common-mode and configuration-dependant stiffness , 2012, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012).
[8] K. Akazawa,et al. Modulation of reflex EMG and stiffness in response to stretch of human finger muscle. , 1983, Journal of neurophysiology.
[9] Nikolaos G. Tsagarakis,et al. Tele-impedance: Teleoperation with impedance regulation using a body–machine interface , 2012, Int. J. Robotics Res..
[10] Nikolaos G. Tsagarakis,et al. COMpliant huMANoid COMAN: Optimal joint stiffness tuning for modal frequency control , 2013, 2013 IEEE International Conference on Robotics and Automation.
[11] Nikolaos G. Tsagarakis,et al. Natural redundancy resolution in dual-arm manipulation using configuration dependent stiffness (CDS) control , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).
[12] T. Milner. Contribution of geometry and joint stiffness to mechanical stability of the human arm , 2002, Experimental Brain Research.
[13] Imin Kao,et al. Conservative Congruence Transformation for Joint and Cartesian Stiffness Matrices of Robotic Hands and Fingers , 2000, Int. J. Robotics Res..
[14] Imin Kao,et al. Geometrical Interpretation of the CCT Stiffness Mapping for Serial Manipulators , 2001, ISRR.
[15] J. Angeles,et al. Kinematic Isotropy and the Conditioning Index of Serial Robotic Manipulators , 1992 .
[16] F. Pierrot,et al. Force polytope and force ellipsoid for redundant manipulators , 1997 .
[17] John J. Craig,et al. Articulated hands: Force control and kinematic issues , 1981 .
[18] Alin Albu-Schäffer,et al. Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).
[19] Tsuneo Yoshikawa,et al. Manipulability of Robotic Mechanisms , 1985 .