IEEE - Institute of Electrical and Electronics Engineers, Inc. - Joint-Space Impedance Control Using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop

Author(s): Gianluca Garofalo ; Alexander Werner ; Florian Loeffl ; Christian Ott
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2019
Volume: 3
Page(s): 1 - 6
ISSN (Electronic): 2475-1456
DOI: 10.1109/LCSYS.2018.2851139
Regular:

A new control law for joint-space impedance in robots with variable impedance actuators is presented. The objective is achieved using reduced information on high order derivatives compared to... View More

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