IROS 2017poster2 citations
Control of a variable stiffness joint for catching a moving object
Ajinkya A. Bhole, Julian Kumle, Stefan S. Groothuis, Raffaella Carloni
Abstract
The paper presents a control method to catch a moving object with a joint actuated by means of a variable stiffness actuator. The controller is designed such that the variable stiffness joint acts as a virtual damper that absorbs the kinetic energy of the moving object. The virtual damping and the output stiffness of the variable stiffness actuator are the control variables. To obtain a critically damped system, the damping coefficient is scheduled on both the output stiffness and the inertia of the system. Experiments on the rotational variable stiffness actuator vsaUT-II validate the control method.
BibTeX
@inproceedings{iros2017_controlofavariab,
title = {Control of a variable stiffness joint for catching a moving object},
author = {Ajinkya A. Bhole and Julian Kumle and Stefan S. Groothuis and Raffaella Carloni},
booktitle = {IROS 2017},
year = {2017}
}