Nonlinear decoupled motion-stiffness control and collision detection/reaction for the VSA-II variable stiffness device

Variable stiffness actuation (VSA) devices are being used to jointly address the issues of safety and performance in physical human-robot interaction. With reference to the VSA-II prototype, we present a feedback linearization approach that allows the simultaneous decoupling and accurate tracking of...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	De Luca, A., Flacco, F., Bicchi, A., Schiavi, R.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Feedback Force control Motion control Motion detection Prototypes Robots Robustness Safety devices Torque Tracking
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