Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms

By Alin Olimpiu Albu-Schäffer, Christian Ott, Udo Frese, G. Hirzinger. IEEE International Conference on Robotics and Automation, 2003

306 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/4a83bea23817a0653178347551ee5ba0c6c16768

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Biomedical Engineering

1. Alin Olimpiu Albu-Schäffer
2. G. Hirzinger
3. Christian Ott
4. Sami Haddadin
5. Alessandro De Luca
6. Avik De

In Control and Systems Engineering

1. Alin Olimpiu Albu-Schäffer
2. G. Hirzinger
3. Christian Ott
4. Sami Haddadin
5. Alessandro De Luca
6. Avik De

Citations in the corpus

• A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots (2007, methodology): “In order to ensure asymptotic convergence in the sense of Lyapunov to a certain joint con-figuration, an additional null-space stiffness has to be added (Albu-Schäffer et al. 2003).”
• Compliant actuator designs (2009, background): “Passive compliant actuators contain an elastic element, i.e., a spring that can store energy—which is not the case for actuators with active compliance, where the controller of a stiff actuator mimics the behavior of a spring [18].”