A swash mass pendulum with passivity-based control
We propose a mechanical system named swash mass pendulum (SMP) with application in
robotics, and we develop a passivity-based control approach. The SMP is a pendulum made …
robotics, and we develop a passivity-based control approach. The SMP is a pendulum made …
Interconnection and dam** assignment passivity-based impedance control of a compliant assistive robot for physical human–robot interactions
T Zhang, J **a - IEEE Robotics and Automation Letters, 2019 - ieeexplore.ieee.org
Interest in series elastic actuators (SEAs) for assistive robots has recently increased due to
the unique properties of SEAs compared to those of rigid actuators, such as high force …
the unique properties of SEAs compared to those of rigid actuators, such as high force …
A constructive procedure for orbital stabilization of a class of underactuated mechanical systems
JG Romero, I Gandarilla… - IEEE Transactions on …, 2022 - ieeexplore.ieee.org
In this note, we present a constructive procedure to solve the orbital stabilization problem of
a class of nonlinear underactuated mechanical systems with degrees of freedom and …
a class of nonlinear underactuated mechanical systems with degrees of freedom and …
Planning framework for robotic pizza dough stretching with a rolling pin
Stretching a pizza dough with a rolling pin is a nonprehensile manipulation. Since the object
is deformable, force closure cannot be established, and the manipulation is carried out in a …
is deformable, force closure cannot be established, and the manipulation is carried out in a …