Auflistung Fakultät für Elektrotechnik und Informatik nach Autor/in "b1af318b-c5dd-4ecc-b4a6-214236bf316f"

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Antagonistic Impedance Control for Pneumatically Actuated Robot Joints

Tödtheide, Alexander; Lilge, Torsten; Haddadin, Sami (Piscataway, NJ : Institute of Electrical and Electronics Engineers, 2015-12-23)

This paper presents a novel joint torque-based impedance controller for antagonistically driven flexible joints actuated by pneumatic cylinders and compares it with the current state of the art. The work targets on ...
Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation

Vorndamme, Jonathan; Schappler, Moritz; Tödtheide, Alexander; Haddadin, Sami (Piscataway, NJ : Institute of Electrical and Electronics Engineers Inc., 2016)

Soft robotics methods such as impedance control and reflexive collision handling have proven to be a valuable tool to robots acting in partially unknown and potentially unstructured environments. Mainly, the schemes were ...
Tank based unified torque/impedance control for a pneumatically actuated antagonistic robot joint

Tödtheide, Alexander; Shahriari, Erfan; Haddadin, Sami (Piscataway, NJ : Institute of Electrical and Electronics Engineers Inc., 2017)

In this paper the concept of a unified torque/impedance controller is applied to a pneumatically actuated, antagonistic robot joint. The investigated control algorithm consists of a cascaded structure in which the outer ...

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