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Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators

Harder, Marie Christin and Keppler, Manuel and Meng, Xuming and Ott, Christian and Höppner, Hannes and Dietrich, Alexander (2022) Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators. IEEE Robotics and Automation Letters, 7 (3), pp. 6614-6621. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3176094. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/document/9779469


Item URL in elib:https://elib.dlr.de/186580/
Document Type:Article
Additional Information:“© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.”
Title:Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Harder, Marie ChristinMarie.Harder (at) dlr.deUNSPECIFIED
Keppler, ManuelManuel.Keppler (at) dlr.dehttps://orcid.org/0000-0002-1532-963X
Meng, XumingXuming.Meng (at) dlr.dehttps://orcid.org/0000-0001-5642-1830
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Höppner, HannesHannes.Hoeppner (at) dlr.deUNSPECIFIED
Dietrich, AlexanderAlexander.Dietrich (at) dlr.dehttps://orcid.org/0000-0003-3463-5074
Date:July 2022
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:7
DOI :10.1109/LRA.2022.3176094
Page Range:pp. 6614-6621
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:Published
Keywords:Robotik, Regelung
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Harder, Marie Christin
Deposited On:27 May 2022 06:58
Last Modified:27 May 2022 06:58

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