IROS 2015poster3 citations
Compliant manipulators on graphs
S.S. Groothuis, S. Stramigioli, R. Carloni
Abstract
This paper proposes a modeling method for generic serial-chain compliant robotic manipulators. It is based on graph theory and port-Hamiltonian systems, which allows a modular approach to the interconnection of rigid bodies with compliant actuators by means of kinematic pairs. This modularity allows a very simple and straight-forward change in a manipulator's actuator morphology. An example of a two degree of freedom planar manipulator shows that this modeling method is more suitable for modeling changes in actuator placement than traditional Euler-Lagrange models.
BibTeX
@inproceedings{iros2015_compliantmanipul,
title = {Compliant manipulators on graphs},
author = {S.S. Groothuis and S. Stramigioli and R. Carloni},
booktitle = {IROS 2015},
year = {2015}
}