24 search results - page 1 / 5 » On the feedback linearization of robots with variable joint ... |
39
Voted
ICRA
2008
IEEE
15 years 4 months ago
2008
IEEE
ICRA
2010
IEEE
14 years 8 months ago
2010
IEEE
— After briefly summarizing the mechanical design of the two joint prototypes for the new DLR variable compliance arm, the paper exemplifies the dynamic modelling of one of the...
ICRA
2007
IEEE
15 years 3 months ago
2007
IEEE
— In this paper, the dynamic model of a robot with antagonistic actuated joints is presented, and the problem of full linearization via static state feedback is analyzed. The use...
73
Voted
ICRA
2008
IEEE
15 years 4 months ago
2008
IEEE
— Facing new tasks, the conventional rigid design of robotic joints has come to its limits. Operating in unknown environments current robots are prone to failure when hitting unf...
ICRA
1998
IEEE
15 years 1 months ago
1998
IEEE
For a general class of robots with elastic joints, we introduce an inversion algorithm for the synthesis of a dynamic feedback control law that gives input-output decoupling and f...