Garofalo, Gianluca and Werner, Alexander and Loeffl, Florian Christoph and Ott, Christian (2019) Joint-space Impedance Control using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop. IEEE Control Systems Letters. IEEE - Institute of Electrical and Electronics Engineers. ISSN 2475-145
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Item URL in elib: | https://elib.dlr.de/124000/ | |||||||||||||||
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Document Type: | Article | |||||||||||||||
Title: | Joint-space Impedance Control using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop | |||||||||||||||
Authors: |
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Date: | 2019 | |||||||||||||||
Journal or Publication Title: | IEEE Control Systems Letters | |||||||||||||||
Refereed publication: | Yes | |||||||||||||||
Open Access: | Yes | |||||||||||||||
Gold Open Access: | No | |||||||||||||||
In SCOPUS: | No | |||||||||||||||
In ISI Web of Science: | No | |||||||||||||||
Publisher: | IEEE - Institute of Electrical and Electronics Engineers | |||||||||||||||
ISSN: | 2475-145 | |||||||||||||||
Status: | Published | |||||||||||||||
Keywords: | Robotics, control applications, variable- structure/sliding-mode contro | |||||||||||||||
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: | Garofalo, Dr. Ing. Gianluca | |||||||||||||||
Deposited On: | 03 Dec 2018 16:43 | |||||||||||||||
Last Modified: | 31 Jul 2019 20:21 |
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