Winching up heavy loads with a compliant arm: a new local joint controller

DOI10.1007/S00422-008-0230-4zbMath1172.93381OpenAlexW2033278359WikidataQ48348812 ScholiaQ48348812MaRDI QIDQ937746

Josef Schmitz, Axel Schneider, Holk Cruse

Publication date: 15 August 2008

Published in: Biological Cybernetics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s00422-008-0230-4

zbMATH Keywords

decentralized controlpositive feedbackcontour trackingequilibrium point hypothesisactive compliancecompliant motionjoint coordinationturning a crank

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Biomechanics (92C10) Artificial intelligence for robotics (68T40)

Cites Work

• Optimal trajectory formation of constrained human arm reaching movements
• Impedance Control: An Approach to Manipulation: Part I—Theory

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