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A Passivity-Based Approach for Trajectory Tracking and Link-Side Damping of Compliantly Actuated Robots

Keppler, Manuel and Lakatos, Dominic and Ott, Christian and Albu-Schäffer, Alin (2016) A Passivity-Based Approach for Trajectory Tracking and Link-Side Damping of Compliantly Actuated Robots. In: IEEE International Conference on Robotics and Automation ICRA. ICRA 2016 IEEE International Conference on Robotics and Automation, 16-21 MAy 2016, Stockholm, Sweden.

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Item URL in elib:https://elib.dlr.de/105303/
Document Type:Conference or Workshop Item (Speech)
Title:A Passivity-Based Approach for Trajectory Tracking and Link-Side Damping of Compliantly Actuated Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Keppler, ManuelManuel.Keppler (at) dlr.deUNSPECIFIED
Lakatos, Dominicdominic.lakatos (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:16 May 2016
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:Tracking Control, Damping Control, Compliant Robots, Passivity
Event Title:ICRA 2016 IEEE International Conference on Robotics and Automation
Event Location:Stockholm, Sweden
Event Type:international Conference
Event Dates:16-21 MAy 2016
Organizer:IEEE
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: Keppler, Manuel
Deposited On:19 Dec 2016 12:56
Last Modified:31 Jul 2019 20:02

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