5 accepted papers
The regulation of the link positions of compliant robots, damping out undesired link oscillations while preserving the system's inherent elasticity is still a challenging task in practical applications. This task becomes even harder to be tackled in the case of compliant robots driven by agonistic-a
This letter proposes a framework which is able to generate a sequence of three-dimensional human dance poses for a given music. The proposed framework consists of three components: a music feature encoder, a pose generator, and a music genre classifier. We focus on integrating these components for g
In this letter, a new approach is proposed to optimally plan the motion along a parametrized path for flexible joint robots, i.e., robots whose structure is purposefully provided with compliant elements. State-of-the-art methods efficiently solve the problem in case of torque-controlled rigid robots
Trajectory tracking of flexible link robots is a classical control problem. Historically, the link elasticity was considered as something to be removed. Hence, the control performance was guaranteed by adopting high-gain feedback loops and, possibly, a dynamic compensation with the result to stiffen…
It is widely recognized that impedance modulation is a key aspect in applications in which robots significantly interact with the environment or humans. Either active impedance controllers or actuators with passive variable impedance can be exploited to modulate the impedance. However, methods capab