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Titel:

Exploiting elastic energy storage for cyclic manipulation: Modeling, stability, and observations for dribbling

Dokumenttyp:
Konferenzbeitrag
Autor(en):
Haddadin, S.; Krieger, K.; Albu-Schäffer, A.
Abstract:
For creating robots that are capable of human like performance in terms of speed, energetic properties, and robustness, intrinsic compliance is a promising design element. In this paper we investigate the effects of elastic energy storage and release for ball dribbling in terms of cycle stability. We base the analysis on error evolution, peak power performance during hand contact, and robustness with respect to varying hand stiffness. As the ball can only be controlled during contact, an intrins...     »
Stichworte:
humanoid robots; motion control; stability; ball dribbling; contact force sensing; cycle stability; cyclic manipulation; elastic energy storage; energetic property; error evolution; hand stiffness; peak power performance; robot; Mathematical model; Observers; Robot sensing systems; Springs; Stability analysis; Trajectory
Kongress- / Buchtitel:
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Jahr:
2011
Monat:
Dec
Seiten:
690-697
Volltext / DOI:
doi:10.1109/CDC.2011.6161022
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