From underactuation to quasi‐full actuation: Aiming at a unifying control framework for articulated soft robots

DOI10.1002/RNC.6102zbMath1528.93160OpenAlexW4220840302MaRDI QIDQ6063754

Christian Ott, Unnamed Author, Alin Albu-Schäffer

Publication date: 12 December 2023

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.6102

zbMATH Keywords

passivity-based controlrobot controlimpedance controlunderactuated systemjoint elasticity

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

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