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Title:

A Passivity-Based Approach for Variable Stiffness Control With Dynamical Systems

Document type:
Magazinartikel
Author(s):
Youssef Michel; Matteo Saveriano; Dongheui Lee
Abstract:
In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order Dynamical System (DS) with a variable stiffness profile, in a closed loop configuration where the controller is always aware of the current robot state. This allows the robot to follow a desired path with an interactive behavior dictated by the desired stiffn...     »
Journal title:
IEEE Transactions on Automation Science and Engineering
Year:
2023
Year / month:
2023-10
Pages contribution:
1 - 12
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1109/TASE.2023.3324141
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