Adaptive Impedance Control Applied to a Pneumatic Legged Robot

@article{Tzafestas1997AdaptiveIC,
  title={Adaptive Impedance Control Applied to a Pneumatic Legged Robot},
  author={Costas S. Tzafestas and Nacer K. M'Sirdi and N. Manamani},
  journal={Journal of Intelligent and Robotic Systems},
  year={1997},
  volume={20},
  pages={105-129}
}
An adaptive impedance control scheme with estimation of robot and environment parameters is proposed in this paper. It consists of two stages of adaptation and control. The first one performs an on-line estimation of the robot inertial parameters, during the complete (constrained or not) motion of the leg, while the second one compensates for the… CONTINUE READING