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- Title:
Exploiting Elastic Energy Storage for ``Blind'' Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling
- Document type:
- Zeitschriftenaufsatz
- Author(s):
- Haddadin, S.; Krieger, K.; Albu-Schäffer, A.; Lilge, T.
- Keywords:
- Analytical models; Elasticity; Robots; Springs; Stability analysis; Trajectory; Cycle stability analysis; disturbance observer; elastic energy storage; flexible joint manipulators; limit cycles; variable stiffness actuation
- Journal title:
- IEEE Transactions on Robotics
- Year:
- 2018
- Journal volume:
- 34
- Month:
- 2
- Journal issue:
- 1
- Pages contribution:
- 91-112
- Fulltext / DOI:
- doi:10.1109/TRO.2017.2765684
- Print-ISSN:
- 1552-3098
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