Stiffness control of multi-DOF joint

@article{Koganezawa2009StiffnessCO,
  title={Stiffness control of multi-DOF joint},
  author={Koichi Koganezawa and Hiroshi Yamashita},
  journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2009},
  pages={363-370}
}
This paper deals with mechanical stiffness control of multi-DOF joint. It fundamentally mimics the skeleto-muscular system of human articulation, in which at least two muscles handle one rotary axis under their antagonistic (counteractive) action. In the first part of the paper one introduces basic formula for controlling the multi-DOF rotary joint that is assumed to be driven by a couple of novel actuators called ANLES (Actuator with Non-Linear Elastic System). It mimics a skeletal muscle in… CONTINUE READING

From This Paper

Figures, tables, and topics from this paper.

References

Publications referenced by this paper.
Showing 1-10 of 25 references

Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction

  • G. Tonietii, R. Schiavi, A. Bicchi
  • Proc. of the 2005 IEEE Int. Conf. on Robotics and…
  • 2005
2 Excerpts

Congruence Transformation for Joint and Cartesian Stiffness Matrices of Robotic Hands and Fingers

  • S. F. Chen, I. Kao, ”Conservative
  • The Int. J. of Robotics Res.,
  • 2000
1 Excerpt

Modelling and Control of McKibben Artificial Muscle Robot Actuators,

  • B. Tondu, P. M. Lopez
  • IEEE Control Systems Magagine,
  • 2000
1 Excerpt

Similar Papers

Loading similar papers…