IEEE - Institute of Electrical and Electronics Engineers, Inc. - Use of Active Compliance in the Control of Legged Vehicles

Author(s): Charles A. Klein ; Randal L. Briggs
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 July 1980
Volume: 10
Page(s): 393 - 400
ISSN (Paper): 0018-9472
ISSN (Online): 2168-2909
DOI: 10.1109/TSMC.1980.4308520
Regular:

Often it is desirable to specify both position and force at the end effector of a manipulator system; however, when the system forms a closed kinematic chain both cannot be realized independently.... View More

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