Sentence examples for stiffness controller from inspiring English sources

Jerk optimal control and Stiffness control laws are designed in ''Jerk optimal control" section and ''Active stiffness controller" section, respectively.

In a second control-loop, a stiffness controller continuously adjusts the pressure of the pneumatic chambers to realise a certain interaction stiffness.

To improve the haptic rendering of this device, a nonlinear position and stiffness controller without force measurement based on a Backstepping synthesis is presented.

To overcome these locks, we propose in this section an alternative solution: A stiffness controller without gravity compensation requiring only position and velocity sensors.

In this paper, an optimal jerk stiffness controller is proposed to produce stable gait pattern generation for bipedal robots in rough terrain.

Winiarski, et al. [29] applied a direct impedance controller and a local stiffness controller to a 7-DOF manipulator to robustly open doors.

Relaxing the constraint of passivity, we exhaustively search the control design space defined by parametric force and stiffness controllers, expressed in a general lead-lag form, and define a lead-type stiffness compensator that results in acceptable conditions for both coupled stability and accuracy.

To produce a path similar to the one generated by a human foot when performing a walking cycle by a bipedal robot, we have proposed, in this paper, a specific walking control strategy using an optimal jerk and an active stiffness controllers based only on position and velocity sensors.

In addition, an associated controller is designed using leg coordination Cartesian position as the control state space based on which stiffness control is performed at sub-controller level.

If the substrate is compliant, on a substrate of medium stiffness the controller shows properties of a proportional position controller, whereas on a substrate compliant enough the leg is able to maintain the error between actual position and desired position (reference position) constant, i.e., the controller behaves as an Integral controller (Cruse et al. 2004).

In this study, to minimize the adverse effect of this time-varying mesh stiffness, a nonlinear controller which adjusts the torque acting on the driving gear is proposed.