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Title:

From underactuation to quasi2̆010full actuation: Aiming at a unifying control framework for articulated soft robots

Document type:
Zeitschriftenaufsatz
Author(s):
Keppler, Manuel ; Ott, Christian ; Albu2̆010Schäffer, Alin
Keywords:
RESEARCH ARTICLE ; RESEARCH ARTICLES ; robot control ; joint elasticity ; passivity2̆010based control ; impedance control ; underactuated system
Journal title:
International Journal of Robust and Nonlinear Control
Year:
2022
Journal volume:
32
Journal issue:
9
Pages contribution:
5453-5484
Fulltext / DOI:
doi:10.1002/rnc.6102
E-ISSN:
1049-8923 ; 1099-1239
Date of publication:
17.03.2022
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