IEEE - Institute of Electrical and Electronics Engineers, Inc. - Feedback linearization of variable stiffness joints based on twisted string actuators

2015 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): G. Palli ; L. Pan ; M. Hosseini ; L. Moriello ; C. Melchiorri
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): 2,742 - 2,747
ISBN (Electronic): 978-1-4799-6923-4
ISBN (DVD): 978-1-4799-6921-0
DOI: 10.1109/ICRA.2015.7139571
Regular:

In this paper, an ongoing work for the implementation of a variable stiffness joint actuated by a couple of twisted string actuators in antagonistic configuration is reported. The twisted string... View More

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