Online impedance regulation techniques for compliant humanoid balancing

Spyrakos-Papastavridis, Emmanouil; Kashiri, Navvab; Childs, Peter; Tsagarakis, Nikos G.

doi:10.1016/j.robot.2018.03.001

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A Model-based Feedforward Power-shaping Control2

D K1

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Cited by 12 publications

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“…Some other works are also worth citing. In [46], [47] and [48], the authors used the concept of Lyapunov stability margins to regulate the impedance for improved balancing and walking in humanoids. Finally, [49] and [50] employed force measurements and visual data to auto-tune the impedance.…”

Section: D Kmentioning

confidence: 99%

Choosing Stiffness and Damping for Optimal Impedance Planning

et al. 2023

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Section: D Kmentioning

confidence: 99%

Choosing Stiffness and Damping for Optimal Impedance Planning

et al. 2023

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“…Theorem 2: The closed-loop system comprising equations (1), ( 2), (22), and (23) possesses a GAS equilibrium point at 𝒒 𝒆𝒒 = [𝒒 𝑭 𝒆 𝑻 𝒒̇𝑭 𝒆 𝑻 ] = 𝟎, when 𝝉 𝒆 = 𝟎.…”

Section: Feedback Deactivation Via Power-shaping Controlmentioning

confidence: 99%

“…Based on this argumentation, an FF-dynamics control design (excluding 𝐊 𝐏 𝒒 𝑬 ) is proposed, based on the law: i.e. it is not applicable to (5), (22), and (25). ( 27) also contains additional damping terms to suppress oscillations [19].…”

Section: A Model-based Feedforward Power-shaping Controlmentioning

confidence: 99%