A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots

By Alin Olimpiu Albu-Schäffer, Christian Ott, G. Hirzinger. Int. J. Robotics Res., 2007

758 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering, Mechanical Engineering

View Paper: https://www.semanticscholar.org/paper/5373ab69bf3103dc03dcc6f8fff22b10058466d6

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In Biomedical Engineering

In Control and Systems Engineering

In Mechanical Engineering

Citations in the corpus

Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions (2011, methodology): “... to loads by the robot, while it had to move repetitively between 0 and 0.7 rad (see the red trace in Fig. 8). Fig. 8 plots data from implementation on the testbed of the 1-DOF LWR [38] that is controlled by a D-Space system that runs at 1 kHz with Qτ =9 , QK =9 5, QD =9 , and γ =0 .5. The propos”
Collision detection and reaction: A contribution to safe physical Human-Robot Interaction (2008, methodology): “The measurement of the joint torque τ allows a unified control framework for position, torque and impedance control for the LWRIII since an additional state measurement is introduced [13].”
Admittance control for physical human–robot interaction (2018, background): “…controlling robots in contact with a mechanical environment (Zeng and Hemami, 1997), namely: (in)direct force control (Maples and Becker, 1986), impedance control (Hogan, 1985), admittance control (Newman, 1992; Whit-ney, 1977), and full-state interaction control (Albu-Schäffer et al., 2004, 2007).”
DLR MiroSurge: a versatile system for research in endoscopic telesurgery (2010, background): “Robust feedback control is guaranteed by our passivity-based control framework [13].”
On the Passivity-Based Impedance Control of Flexible Joint Robots (2008, background): “In fact the importance of joint elasticity for the design of position and tracking controllers has widely been discussed in the literature [2], [3], [4], [5], [6], [7], [8], [9].”
Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces (2007, background): “The most closely related work to this paper is [ 37 ].”
The DLR hand arm system (2011, background): “Compliance of these stiff robots is, in most cases, realized using impedance control [15].”
Robot Collisions: A Survey on Detection, Isolation, and Identification (2017, background): “Note that the possibility of estimating the link position, velocity, and acceleration via the iterative scheme from [65] is omitted for brevity.”
Robot Programming by Demonstration (2010, background): “The negative joint torque feedback has two important roles: reducing the apparent inertia of the motor (rotor) and reducing the disturbances on the motor dynamics (e.g. friction) [2, 3].”
The KUKA-DLR Lightweight Robot arm - a new reference platform for robotics research and manufacturing (2010, background): “Torque sensors in each of the seven joints, a detailed dynamic model of the robot, state control and a high servocontrol cycle rate (3 kHz locally in the joints, 1 kHz overall), combined with powerful drives and the lightweight construction, enable active damping of vibrations to achieve excellent m”
Requirements for Safe Robots: Measurements, Analysis and New Insights (2009, methodology): “Details of the design and control methodologies are described by Albu-Schäffer et al. (2007a) and Hirzinger et al. (2004).”
An atlas of physical human-robot interaction (2008, neutral): “Passivity-based control laws [ 34 ], beside guaranteeing robust performance in the face of uncertainties, have thus promising features for a safe pHRI.”