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Generalizing Torque Control Concepts: Using Well-Established Torque Control Methods on Variable Stiffness Robots

Petit, Florian and Dietrich, Alexander and Albu-Schäffer, Alin (2015) Generalizing Torque Control Concepts: Using Well-Established Torque Control Methods on Variable Stiffness Robots. IEEE Robotics & Automation Magazine, 22 (4), pp. 37-51. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/MRA.2015.2476576 ISSN 1070-9932

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Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7349335&filter%3DAND%28p_IS_Number%3A7349124%29

Abstract

Strict requirements must be met before robotic systems can be implemented in a human environment, for example, as service robots. Robustness, task adaptability, and energy efficiency are key aspects in this regard. Variable stiffness robots have been shown to be one step toward achieving these standards. In this article, we elaborate on the essential control aspects required to operate these robots and generalize well-established torque control methods to a variable stiffness robot, the DLR Hand Arm System (HASy). The adaptation and implementation of several control approaches for the compliant robots are also presented, with a focus on the experimental validation.

Item URL in elib:https://elib.dlr.de/100750/
Document Type:Article
Additional Information:Please contact alexander.dietrich@dlr.de for further information.
Title:Generalizing Torque Control Concepts: Using Well-Established Torque Control Methods on Variable Stiffness Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Petit, FlorianFlorian.Petit (at) dlr.deUNSPECIFIED
Dietrich, Alexanderalexander.dietrich (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:December 2015
Journal or Publication Title:IEEE Robotics & Automation Magazine
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:22
DOI :10.1109/MRA.2015.2476576
Page Range:pp. 37-51
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:1070-9932
Status:Published
Keywords:Robotics, Torque Control, Variable Stiffness Robots
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Dietrich, Dr.-Ing. Alexander
Deposited On:10 Dec 2015 09:44
Last Modified:06 Sep 2019 15:26

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