Clara Raschel — accepted AI-conference papers

2022

Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments

Manuel Keppler, Clara Raschel, David Wandinger, Andreas Stemmer, Christian Ott

RA-L 2022

This work addresses the problem of global set-point control of elastic joint robots by combining elastic structure preserving (ESP) control with non-collocated integral action. Despite the popularity and extensive research on PID control for rigid joint robots, such schemes largely evaded adoption t

Cited by 22 Source ↗Scholar ↗

2021

Analyzing the Performance Limits of Articulated Soft Robots Based on the ESPi Framework: Applications to Damping and Impedance Control

Manuel Keppler, Florian Loeffl, David Wandinger, Clara Raschel, Christian Ott

RA-L 2021

In situations of harsh impacts, damping injection directly on the link of an articulated soft robot is challenging and usually requires high actuator torques at the moment of impact. In this work, we discuss the underlying reasons and analyze the performance limitations arising in the implementation

Cited by 5 Source ↗Scholar ↗