A Review of Algorithms for Compliant Control of Stiff and Fixed-Compliance Robots

IEEE/ASME Transactions on Mechatronics - Tập 21 Số 2 - Trang 613-624 - 2016
Andrea Calanca1, Riccardo Muradore1, Paolo Fiorini1
1Dept. of Computer Science - University of Verona, Italy

Tóm tắt

Từ khóa


Tài liệu tham khảo

fazio, 1984, The instrumented remote center of compliance, Ind Robot, 11, 238

drake, 1978, Using Compliance in lieu of sensory feedback for automatic assembly

10.1109/3516.491410

10.1007/BFb0015073

10.1109/ROBOT.1986.1087723

10.1115/1.3427095

10.1007/978-3-540-30301-5_8

10.1109/ROBOT.1987.1087932

10.2514/3.19893

10.1007/978-3-319-08338-4_90

asada, 1987, Direct-Drive Robots, 10.7551/mitpress/2438.001.0001

townsend, 1988, The effect of transmission design on force-controlled manipulator performance

10.1109/ROBOT.1989.100021

10.1109/ROBOT.1987.1087856

paynter, 1961, Analysis and Design of Engineering Systems

10.1115/1.3140702

10.1016/j.robot.2007.05.013

vanham, 2009, Review of actuators with passive adjustable compliance/controllable stiffness for robotic applications, IEEE Robot Autom Mag, 16, 81

10.1109/RAMECH.2006.252631

10.1017/S026357479700057X

10.1177/027836498800700402

10.1109/ROBOT.1994.350927

10.1109/ICRA.2013.6630926

10.1109/IROS.2014.6942678

10.1109/IROS.2011.6094445

10.1109/AIM.1999.803252

10.1109/28.175294

10.1109/TIE.2006.874262

10.1109/IROS.2012.6385953

10.1109/IROS.2013.6696541

10.1109/TSMC.1981.4308708

10.1177/0278364906065505

10.1016/S0921-8890(96)00045-0

10.1016/j.gaitpost.2005.05.004

10.1109/ICORR.2011.5975456

10.1155/2012/123579

10.1016/B978-0-08-029980-8.50039-1

10.1109/TRO.2008.915453

10.1109/ICORR.2011.5975473

10.1109/ROBOT.1988.12222

10.1177/027836498700600101

10.1115/1.1590685

10.1109/70.768179

hogan, 2005, Impedance and interaction control 19.1, Robotics and Automation Handbook, 19-1

10.1115/1.3139652

10.1109/ROBOT.2010.5509861

10.1109/3516.789685

10.1109/IROS.1995.525827

robinson, 2000, Design and analysis of series elasticity in closed-loop actuator force control

howard, 1990, Joint and actuator design for enhanced stability in robotic force control

10.1109/ROBOT.1994.351077

10.1109/ICRA.2013.6630664

10.1109/IROS.2010.5652037

albert, 2007, Efficient control of SEA through exploitation of resonant modes

10.1016/j.robot.2006.02.013

10.1177/0278364907073776

10.1109/ROBOT.2010.5509924

10.1109/CDC.1980.272026

10.1109/ROBOT.1989.100210

10.1109/ROBOT.1987.1087854

10.1002/(SICI)1097-4563(199701)14:1<37::AID-ROB4>3.0.CO;2-V

10.1109/AIM.2001.936478

10.1109/IRDS.2002.1043967

10.1109/ROBOT.1993.291908

lee, 0, Force tracking impedance control with variable target stiffness, Proc IFAC World Congr, 17, 6751

10.1109/IROS.2013.6696621

10.1109/70.481753

10.1109/9.280780

daerden, 2002, Pneumatic artificial muscles: Actuators for robotics and automation, Eur J Mech Environ Eng, 47, 11

10.1109/ROBOT.2004.1307462

10.1109/9.90238

10.1109/ICORR.2011.5975497

tagliamonte, 2013, Passivity constraints for the impedance control of series elastic actuators, J Syst Control Eng, 228, 138

10.1109/MRA.2008.927689

pratt, 0, Late motor processing in low-impedance robots: Impedance control of series-elastic actuators, Proc Amer Control Conf, 3245

10.1109/IROS.2015.7353588

10.1109/ROBOT.2004.1307463

10.1109/IROS.2007.4399172

10.1007/s10514-005-0726-x

10.1177/0278364905052437

2007

2013

10.1109/ICHR.2007.4813914

raibert, 0, Bigdog, the rough-terrain quadruped robot, Proc 17th IFAC World Congr, 10822

10.1109/ICRA.2012.6224628

10.1108/01439910210425522

10.1117/12.544510

10.1017/S0263574714001519

goertz, 1952, Fundamentals of general purpose remote manipulators, Nucleonics, 10, 36

10.1109/ROBOT.2008.4543769

williamson, 1995, Series elastic actuators

wyeth, 0, Control issues for velocity sourced series elastic actuators, Proc Australasian Conf Robot Autom, 6

hurst, 0, Series elastic actuation: Potential and pitfalls, Proc Int Conf Climbing Walking Robots, 1

10.1002/rob.21556

10.1016/S0957-4158(02)00021-1

kong, 2009, Control of rotary series elastic actuator for ideal force-mode actuation in human-robot interaction applications, IEEE/ASME Trans Mechatronics, 14, 105, 10.1109/TMECH.2008.2004561

bae, 0, Gait phase-based smoothed sliding mode control for a rotary series elastic actuator installed on the knee joint, Proc Amer Control Conf, 6030

10.3390/act3030182