A review of algorithms for compliant control of stiff and fixed-compliance robots
This survey presents the state of the art of basic compliant control algorithms in a unified
view of past and present literature. Compliant control is fundamental when dealing with …
view of past and present literature. Compliant control is fundamental when dealing with …
High-precision robust force control of a series elastic actuator
A series elastic actuator (SEA) is a promising actuation method in force control applications
that intelligently interacts with environments. The SEA is characterized by a spring placed …
that intelligently interacts with environments. The SEA is characterized by a spring placed …
Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid
Hierarchical inverse dynamics based on cascades of quadratic programs have been
proposed for the control of legged robots. They have important benefits but to the best of our …
proposed for the control of legged robots. They have important benefits but to the best of our …
Towards versatile legged robots through active impedance control
Robots with legs and arms have the potential to support humans in dangerous, dull or dirty
tasks. A major motivation behind research on such robots is their potential versatility …
tasks. A major motivation behind research on such robots is their potential versatility …
Motion planning for quadrupedal locomotion: Coupled planning, terrain mapping, and whole-body control
Planning whole-body motions while taking into account the terrain conditions is a
challenging problem for legged robots since the terrain model might produce many local …
challenging problem for legged robots since the terrain model might produce many local …
Model-based hydraulic impedance control for dynamic robots
Increasingly, robots are designed to interact with the environment, including humans and
tools. Legged robots, in particular, have to deal with environmental contacts every time they …
tools. Legged robots, in particular, have to deal with environmental contacts every time they …
Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics
Recently several hierarchical inverse dynamics controllers based on cascades of quadratic
programs have been proposed for application on torque controlled robots. They have …
programs have been proposed for application on torque controlled robots. They have …
Impedance control of series elastic actuators: Passivity and acceleration-based control
Abstract Series elastic joints allow force and impedance controllers to be implemented on
high torque and high power density motors. Several impedance controllers have been …
high torque and high power density motors. Several impedance controllers have been …
High-precision dynamic torque control of high stiffness actuator for humanoids
The high stiffness actuator (HSA), applied to each joint of an electrical driven humanoid
robot, can directly affect the motion performance of the torque-controlled humanoid robots …
robot, can directly affect the motion performance of the torque-controlled humanoid robots …
Stability and performance of the compliance controller of the quadruped robot HyQ
T Boaventura, GA Medrano-Cerda… - 2013 IEEE/RSJ …, 2013 - ieeexplore.ieee.org
A legged robot has to deal with environmental contacts every time it takes a step. To
properly handle these interactions, it is desirable to be able to set the foot compliance. For …
properly handle these interactions, it is desirable to be able to set the foot compliance. For …