Exploiting potential energy storage for cyclic manipulation: An analysis for elastic dribbling with an anthropomorphic robot

@article{Haddadin2011ExploitingPE,
  title={Exploiting potential energy storage for cyclic manipulation: An analysis for elastic dribbling with an anthropomorphic robot},
  author={Sami Haddadin and Kai Krieger and Mirko Kunze and Alin Albu-Sch{\"a}ffer},
  journal={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2011},
  pages={1789-1796}
}
For achieving dynamic manipulation capabilities that are comparable to human performance in terms of speed, energetic properties, and robustness, intrinsic elasticity is widely proposed as a necessary robot design element. In this paper we show how passive compliance can be exploited for a 6-degree-of-freedom (DoF) cyclic ball dribbling task with a 7-DoF articulated Cartesian impedance controlled DLR Lightweight Robot III. For this, the robot is equipped with an elastic hand, which extends the… CONTINUE READING
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