Development and control of a series elastic actuator equipped with a semi active friction damper for human friendly robots
暂无分享,去创建一个
Nikolaos G. Tsagarakis | Darwin G. Caldwell | Jinoh Lee | Matteo Laffranchi | Navvab Kashiri | Lisha Chen | D. Caldwell | N. Tsagarakis | M. Laffranchi | Jinoh Lee | Navvab Kashiri | Lisha Chen
[1] S. Stramigioli,et al. The mVSA-UT: A miniaturized differential mechanism for a continuous rotational variable stiffness actuator , 2012, 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob).
[2] J. Y. Lew,et al. A simple active damping control for compliant base manipulators , 2001 .
[3] Chee-Meng Chew,et al. Series damper actuator: a novel force/torque control actuator , 2004, 4th IEEE/RAS International Conference on Humanoid Robots, 2004..
[4] Lennart Ljung,et al. System Identification: Theory for the User , 1987 .
[5] Bruno Siciliano,et al. An experimental study on compliance control for a redundant personal robot arm , 2003, Robotics Auton. Syst..
[6] Yoshiyuki Tanaka,et al. Analysis of mechanical impedance in human arm movements using a virtual tennis system , 2004, Biological Cybernetics.
[7] Nikolaos G. Tsagarakis,et al. A decoupled impedance observer for a variable stiffness robot , 2011, 2011 IEEE International Conference on Robotics and Automation.
[8] Nikolaos G. Tsagarakis,et al. Model-free force tracking control of piezoelectric actuators: Application to variable damping actuator , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).
[9] Nikolaos G. Tsagarakis,et al. A compact soft actuator unit for small scale human friendly robots , 2009, 2009 IEEE International Conference on Robotics and Automation.
[10] Giorgio Grioli,et al. A Non-invasive Real-Time Method for Measuring Variable Stiffness , 2010, Robotics: Science and Systems.
[11] Nikolaos G. Tsagarakis,et al. The role of physical damping in compliant actuation systems , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[12] T. Milner,et al. Damping of the wrist joint during voluntary movement , 1998, Experimental Brain Research.
[13] Nikolaos G. Tsagarakis,et al. A variable physical damping actuator (VPDA) for compliant robotic joints , 2010, 2010 IEEE International Conference on Robotics and Automation.
[14] Axel Schneider,et al. A self-contained, elastic joint drive for robotics applications based on a sensorized elastomer coupling—Design and identification , 2013 .
[15] Stefano Stramigioli,et al. Energy-Efficient Variable Stiffness Actuators , 2011, IEEE Transactions on Robotics.
[16] S. Vijayakumar,et al. Exploiting variable physical damping in rapid movement tasks , 2012, 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).
[17] N. G. Tsagarakis,et al. Analysis and Development of a Semiactive Damper for Compliant Actuation Systems , 2013, IEEE/ASME Transactions on Mechatronics.
[18] Antonio Bicchi,et al. An atlas of physical human-robot interaction , 2008 .
[19] Thavida Maneewarn,et al. Impact reduction mobile robot and the design of the compliant legs , 2014, Robotics Auton. Syst..
[20] A. S. Shafer,et al. On the Feasibility and Suitability of MR Fluid Clutches in Human-Friendly Manipulators , 2011, IEEE/ASME Transactions on Mechatronics.
[21] 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..
[22] Pablo González de Santos,et al. Combining series elastic actuation and magneto-rheological damping for the control of agile locomotion , 2011, Robotics Auton. Syst..
[23] Josef Schmitz,et al. HECTOR, a New Hexapod Robot Platform with Increased Mobility - Control Approach, Design and Communication , 2012 .
[24] Giulio Sandini,et al. Force feedback exploiting tactile and proximal force/torque sensing , 2012, Auton. Robots.
[25] Jakob Oblak,et al. Design of a series visco-elastic actuator for multi-purpose rehabilitation haptic device , 2011, Journal of NeuroEngineering and Rehabilitation.
[26] Manuel G. Catalano,et al. Variable impedance actuators: A review , 2013, Robotics Auton. Syst..
[27] Horn-Sen Tzou,et al. Distributed structural dynamics control of flexible manipulators —I. Structural dynamics and distributed viscoelastic actuator , 1990 .
[28] Nikolaos G. Tsagarakis,et al. On-line estimation of variable stiffness in flexible robot joints , 2012, Int. J. Robotics Res..
[29] Paolo Bolzern,et al. Exponential convergence of a modified directional forgetting identification algorithm , 1990 .
[30] Alessandro De Luca,et al. Residual-based stiffness estimation in robots with flexible transmissions , 2011, 2011 IEEE International Conference on Robotics and Automation.
[31] Nikolaos G. Tsagarakis,et al. CompAct Arm™: a Compliant Manipulator with Intrinsic Variable Physical Damping , 2012, Robotics: Science and Systems.
[32] Walter Lhomme,et al. Different Graphical Descriptions of Clutch Modelling for Traction Systems , 2008 .
[33] Peyman Yadmellat,et al. Adaptive modeling of a fully hysteretic Magneto-Rheological clutch , 2012, 2012 IEEE International Conference on Robotics and Automation.
[34] Jonathan W. Hurst,et al. Optimal passive dynamics for torque/force control , 2010, 2010 IEEE International Conference on Robotics and Automation.
[35] Bram Vanderborght,et al. Exploiting Natural Dynamics to Reduce Energy Consumption by Controlling the Compliance of Soft Actuators , 2006, Int. J. Robotics Res..
[36] Bill Bigge,et al. Programmable springs: Developing actuators with programmable compliance for autonomous robots , 2007, Robotics Auton. Syst..
[37] Shinichiro Nakaoka,et al. BLUE: A bipedal robot with variable stiffness and damping , 2012, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012).
[38] Thomas G. Sugar,et al. Design and control of a compliant parallel manipulator , 2002 .
[39] Jian-Qiao Sun,et al. Passive, Adaptive and Active Tuned Vibration Absorbers—A Survey , 1995 .
[40] François Michaud,et al. Force-guidance of a compliant omnidirectional non-holonomic platform , 2014, Robotics Auton. Syst..
[41] B. Swanick,et al. A recursive least-squares approach to the on-line adaptive control problem† , 1972 .
[42] S. Bittanti,et al. Recursive least-squares identification algorithms with incomplete excitation: convergence analysis and application to adaptive control , 1990 .
[43] Yasutaka Fujimoto,et al. Control of a biped robot driven by elastomer-based series elastic actuator , 2012, 2012 12th IEEE International Workshop on Advanced Motion Control (AMC).
[44] Nikolaos G. Tsagarakis,et al. Gain Scheduling Control for a Class of Variable Stiffness Actuators Based on Lever Mechanisms , 2013, IEEE Transactions on Robotics.
[45] Yasutaka Fujimoto,et al. Position and force control of SPM-type high-thrust-force linear motor for assistive devices , 2013, 2013 IEEE Region 10 Humanitarian Technology Conference.