From underactuation to quasi‐full actuation: Aiming at a unifying control framework for articulated soft robots

DOI10.1002/RNC.6102MaRDI QIDQ6063754zbMATH OpenOpenAlexFDO

Authors Christian Ott, Alin Albu-Schäffer

Publication date 12 December 2023

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1002/rnc.6102

zbMATH Keywords

impedance controljoint elasticitypassivity-based controlrobot controlunderactuated system

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics
• Energy-based Control for Soft Manipulators using Cosserat-beam Models
• Energy shaping control for systems with underactuation degrees two by controlled Lagrangian method
• A passivity‐based control of Euler‐Lagrange systems with a non‐quadratic Lagrangian

Cites work

• L₂-gain and passivity techniques in nonlinear control
• A New Feedback Method for Dynamic Control of Manipulators
• Adaptive manipulator control: A case study
• Comments on "Adaptive manipulator control: a case study" by J. Slotine and W. Li
• Controlled Lagrangians and the stabilization of mechanical systems. I: The first matching theorem.
• Controlled Lagrangians and the stabilization of mechanical systems. II. Potential shaping
• Duality and symmetry lost in solid mechanics
• Global tracking controllers for flexible-joint manipulators: A comparative study
• Globally asymptotically stable ‘PD+’ controller for robot manipulators
• scientific article; zbMATH DE number 1873665 (Why is no real title available?)
• Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
• Modeling and Control of Elastic Joint Robots
• On asymptotic stability of equilibria and stationary motions of mechanical systems with partial dissipation
• Passivity, feedback equivalence, and the global stabilization of minimum phase nonlinear systems
• Stability theory by Liapunov's direct method
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment

Cited in

(4)

• scientific article; zbMATH DE number 7266547 (Why is no real title available?)
• Energy-based Control for Soft Manipulators using Cosserat-beam Models
• Control Strategies for an Octopus-like Soft Manipulator
• Event-triggered consensus tracking control of flexible manipulators with nonlinear time-varying fault-tolerant actuators and input constraint

This page was built for publication: From underactuation to quasi‐full actuation: Aiming at a unifying control framework for articulated soft robots

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6063754)