IEEE - Institute of Electrical and Electronics Engineers, Inc. - On the role of robot configuration in Cartesian stiffness control

2015 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Arash Ajoudani ; Nikos G. Tsagarakis ; Antonio Bicchi
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): 1,010 - 1,016
ISBN (Electronic): 978-1-4799-6923-4
ISBN (DVD): 978-1-4799-6921-0
DOI: 10.1109/ICRA.2015.7139300
Regular:

The stiffness ellipsoid, i.e. the locus of task-space forces obtained corresponding to a deformation of unit norm in different directions, has been extensively used as a powerful representation of... View More

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