The paper presents the modeling and control of a variable stiffness actuator developed for robotic walking. Nonlinear robust control are developed to steer the motion of the system towards desired limit cycles. Simulation as well as experimental results are presented.
Limit Cycles and Stiffness Control with Variable Stiffness Actuators / R. Carloni; L. Marconi. - STAMPA. - (2012), pp. 302-307. (Intervento presentato al convegno 2012 IEEE/RSJ International Conference on Intelligent Robotsand Systems (IROS 2012), tenutosi a Vilamoura, Algarve, Portugal nel 4-8 October 2012) [10.1109/IROS.2012.6385914].
Limit Cycles and Stiffness Control with Variable Stiffness Actuators
MARCONI, LORENZO
2012
Abstract
The paper presents the modeling and control of a variable stiffness actuator developed for robotic walking. Nonlinear robust control are developed to steer the motion of the system towards desired limit cycles. Simulation as well as experimental results are presented.File in questo prodotto:
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