Name
Abstract | ||
|---|---|---|
This paper presents a sufficient condition to establish the existence of unique equilibrium points for three types of gravity compensation controller when applied to over-actuated systems. As compared to the existing work, this paper extends the current theory by introducing feedback gain matrices that are not constrained to being diagonal and positive definite. The inherently COmpliant huMANoid (COMAN) served as a platform for the validation of the designed gravity compensation controller that employed reference link positions. The displayed experimental results provide evidence of successful link tracking of sinusoidal references on a humanoid system composed of series elastic actuators. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/ICRA.2013.6631286 | 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) |
Keywords | Field | DocType |
feedback,mathematical model,robots,vectors,gravity,humanoid robots,equilibrium point | Diagonal,Control theory,Gravity compensation,Control theory,Matrix (mathematics),Positive-definite matrix,Equilibrium point,Control engineering,Engineering,Humanoid robot,Actuator | Conference |
Volume | Issue | ISSN |
2013 | 1 | 1050-4729 |
Citations | PageRank | References |
3 | 0.41 | 10 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Emmanouil Spyrakos-Papastavridis | 1 | 12 | 3.05 |
| Gustavo A. Medrano-Cerda | 2 | 278 | 34.32 |
| NG Tsagarakis | 3 | 1492 | 159.09 |
| Jian S. Dai | 4 | 178 | 30.53 |
| Darwin G. Caldwell | 5 | 2900 | 319.72 |