3 accepted papers
Variable Stiffness Actuators (VSAs) are promising for advanced robotic systems, offering benefits such as improved energy efficiency, impact safety, stiffness adaptability, mechanical robustness, and dynamic versatility. However, traditional designs often rely on complex mechanical assemblies to ach
Some impact tasks for robot manipulators, like stamping, demand that the end-effector does not slip off the target at the contact transition. We refer to this class of impacts as targeted non-slippage impacts and provide solutions to perform them. We present a model-based analysis and provide impact
Adaptive control can significantly improve tracking performance of robot manipulators subject to modeling errors in dynamics. In this letter, we propose a new framework combining the composite adaptive controller using a natural adaptation law and an extension of the adaptive variance algorithm (AVA