IEEE - Institute of Electrical and Electronics Engineers, Inc. - Unified passivity-based Cartesian force/impedance control for rigid and flexible joint robots via task-energy tanks

2015 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Christopher Schindlbeck ; Sami Haddadin
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2015
Conference Location: Seattle, WA, USA
Conference Date: 26 May 2015
Page(s): 440 - 447
ISBN (Electronic): 978-1-4799-6923-4
ISBN (DVD): 978-1-4799-6921-0
DOI: 10.1109/ICRA.2015.7139036
Regular:

In this paper we propose a novel hybrid Cartesian force/impedance controller that is equipped with energy tanks to preserve passivity. Our approach overcomes the problems of (hybrid) force... View More

Advertisement