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Titel:

Closed-Loop Variable Stiffness Control of Dynamical Systems

Dokumenttyp:
Konferenzbeitrag
Art des Konferenzbeitrags:
Textbeitrag / Aufsatz
Autor(en):
Xiao Chen, Youssef Michel, Dongheui Lee
Abstract:
In this paper, we present an approach to encode variable stiffness behaviors into Dynamical Systems (DS), controlled in a closed-loop configuration. Given a desired robot motion represented as a first order DS, as well as a desired stiffness profile, our approach generates a new DS, called Variable Stiffness DS (VSDS), that controls the robot motion and impedance simultaneously. The robot shows a symmetric spring-like attraction behavior around a reference path described by one of the integral c...     »
Kongress- / Buchtitel:
Humanoids 2020
Jahr:
2021
WWW:
https://humanoids2020-ieee.ipostersessions.com/?s=C2-0E-78-F7-53-49-E0-48-DC-5B-E4-99-51-AB-01-99
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