Generation of Conservative Dynamical Systems Based on Stiffness Encoding

Dynamical systems (DSs) provide a framework for high flexibility, robustness, and control reliability and are widely used in motion planning and physical human-robot interaction. The properties of the DS directly determine the robot's specific motion patterns and the performance of the closed-l...

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Veröffentlicht in:	arXiv.org 2024-11
Hauptverfasser:	Hou, Tengyu, Bai, Hanming, Ding, Ye, Ding, Han
Format:	Artikel
Sprache:	eng
Schlagworte:	Closed loops Coding Control stability Control systems Decay rate Dynamical systems Feedback control Fields (mathematics) Human engineering Human motion Motion planning Motion stability Robot control Robot dynamics Robust control Stiffness Trajectories
Online-Zugang:	Volltext
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