Comparing model|based control methods for simultaneous stiffness ...

Comparing model-based control methods for simultaneous stiffness ...

For model predictive control (MPC) the joint stiffness was controlled to within 0.045 Nm/rad of the same stiffness command. Both SMC and MPC ...

Comparing model-based control methods for simultaneous stiffness ...

This work shows that the derived stiffness model can enable effective position and stiffness control on a multiple-degree-of-freedom soft robot using MPC.

Comparing model-based control methods for simultaneous stiffness ...

Request PDF | Comparing model-based control methods for simultaneous stiffness and position control of inflatable soft robots | Inflatable robots are ...

Comparing model-based control methods for simultaneous stiffness ...

Article on Comparing model-based control methods for simultaneous stiffness and position control of inflatable soft robots, published in The International ...

Comparing model-based control methods for simultaneous stiffness ...

Comparing model-based control methods for simultaneous stiffness and position control of inflatable soft robots. Published:2020-05-08 Issue:1 Volume:40 Page ...

Comparison of Model-Based Simultaneous Position and Stiffness ...

In this paper, we present and compare the performance of two model-based control techniques with the common aim to independently and simultaneously control ...

Comparison of Model-Based Simultaneous Position and Stiffness ...

In this paper, we present and compare the performance of two model-based control techniques with the common aim to independently and simultaneously control ...

A new approach to control the stiffness and position of inflatable robots

Comparing model-based control methods for simultaneous stiffness and position control of inflatable soft robots, The International Journal ...

Comparison of Model-Based Simultaneous Position and Stiffness ...

Comparison of Model-Based Simultaneous Position and Stiffness Control Techniques for Pneumatic Soft Robots. https://doi.org/10.1007/978-3-030-48989-2_24.

[PDF] Simultaneous Position-and-Stiffness Control of Underactuated ...

A novel passivity-based position-and-stiffness controller that adheres to the non-negative tension constraint is proposed that addresses the crucial ...

Simultaneous Position and Stiffness Control for an Inflatable Soft ...

The antagonistic compliant system we described, benefits significantly from a model-based control method in order to achieve dynamic stiffness and accurate ...

Integral passivity-based control of an underactuated hydraulic soft ...

Rupert, M.D. Killpack. Comparing model-based control methods for simultaneous stiffness and position control of inflatable soft robots. The International ...

Adaptive Simultaneous Position and Stiffness Control for a Soft ...

In the fol- lowing section, performance of those two different solutions will be compared. The model of a n DOF robot arm is well known. B(q)¨q + h(q, ˙q) = ...

Simultaneous Motion and Stiffness Control for Soft Pneumatic ...

Simultaneous Motion and Stiffness Control for Soft Pneumatic Manipulators based on a Lagrangian-based Dynamic Model ... Comparing model-based control methods ...

Exploiting Variable Stiffness in Explosive Movement Tasks - Robotics

In this paper, we investigate the use of model-based optimal control for devising strategies for VSAs in highly dynamic, explosive tasks. Specifically, we seek ...

Learning-based Position and Stiffness Feedforward Control ... - ar5iv

Variable stiffness actuator (VSA) designs are manifold. Conventional model-based control of these nonlinear systems is associated with high effort and design- ...

Full article: Study on switching from position to stiffness control for ...

However, it has been revealed that the PD feedback controller affects the joint stiffness and that the stiffness controller reduces energy efficiency during ...

Encrypted Simultaneous Control of Joint Angle and Stiffness of ...

tive and presents a model-based simultaneous control method for tracking the ... θ-dependent contraction force model (5), compared to the UKF- based ...

Model-based and model-free control of flexible-link robots

The performance of the aforementioned methods is compared to the inverse dynamics model-based control, in a simulation case study for planar 2-DOF manipulators.

Data-Driven Position and Stiffness Control of Antagonistic Variable ...

For each stiffness level, linear and nonlinear Hammerstein models are identified using the least squares method. Experimental results confirm that the outputs ...