IEEE - Institute of Electrical and Electronics Engineers, Inc. - Passivity of virtual free-floating dynamics rendered on robotic facilities

2015 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Marco De Stefano ; Jordi Artigas ; Wolfgang Rackl ; Alin Albu-Schaeffer
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): 781 - 788
ISBN (Electronic): 978-1-4799-6923-4
ISBN (DVD): 978-1-4799-6921-0
DOI: 10.1109/ICRA.2015.7139267
Regular:

This paper describes a control strategy to achieve high fidelity dynamics simulation rendered on admittance controlled robotic facilities. It explores the reasons for an increasing energy found in... View More

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