IEEE - Institute of Electrical and Electronics Engineers, Inc. - Unified Impedance and Admittance Control

2010 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Ott, C. ; Mukherjee, R. ; Nakamura, Y.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2010
Conference Location: Anchorage, AK, USA, USA
Conference Date: 3 May 2010
Page(s): 554 - 561
ISBN (CD): 978-1-4244-5040-4
ISBN (Paper): 978-1-4244-5038-1
ISSN (CD): 1050-4729
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2010.5509861
Regular:

Impedance and Admittance Control are two distinct implementations of the same control goal. It is well known that their stability and performance properties are complementary. In this paper, we... View More

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