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• W2510118794 abstract "This paper proposes control laws ensuring the stabilization of a time-varying desired joint trajectory, as well as joint limit avoidance, in the case of fully-actuated manipulators. The key idea is to perform a parametrization of the feasible joint space in terms of exogenous states. It follows that the control of these states allows for joint limit avoidance. One of the main outcomes of this paper is that position terms in control laws are replaced by parametrized terms, where joint limits must be avoided. Stability and convergence of time-varying reference trajectories obtained with the proposed method are demonstrated to be in the sense of Lyapunov. The introduced control laws are verified by carrying out experiments on two degrees-of-freedom of the humanoid robot iCub." @default.
• W2510118794 created "2016-09-16" @default.
• W2510118794 creator A5063532849 @default.
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• W2510118794 date "2016-11-01" @default.
• W2510118794 modified "2023-09-24" @default.
• W2510118794 title "On-line joint limit avoidance for torque controlled robots by joint space parametrization" @default.
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• W2510118794 doi "https://doi.org/10.1109/humanoids.2016.7803379" @default.
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