A Decoupled Impedance Observer for a Variable Stiffness Robot

摘要：

This paper focuses on the estimation of the impedance for a Variable Impedance Actuator (VIA) through torque and position measurements. Despite the recent development of several VIA, impedance control is not yet implemented in closed loop because of the difficulty of obtaining in real-time measurements of time-varying impedance. The estimation algorithm is proposed as an alternative approach to the standard procedures of impedance identification, to robustly tolerate the variability of the mechanical stiffness due, for example, to model uncertainties. The impedance estimator is therefore implemented on the Actuator with Adjustable Stiffness (AwAS). The effectiveness of the proposed estimator is proved through simulation and experimental results.

作者: Alessandro Serio Giorgio Grioli Irene Sardellitti Nikos G. Tsagarakis Antonio Bicchi

作者单位: Centro Interdipartimentale di Ricerca E. Piaggio,Univeristy of Pisa,56126 Pisa,Italy Italian Inst. Centro Interdipartimentale di Ricerca E. Piaggio,Univeristy of Pisa,56126 Pisa,Italy Italian Inst. of Technology,Advanced Robotics,16163 Genova,Italy

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 5548-5553

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）