FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2624869465> ?p ?o ?g. }

• W2624869465 endingPage "1490" @default.
• W2624869465 startingPage "1483" @default.
• W2624869465 abstract "In humanoids and other redundant robots interacting with the environment, one can often choose between different configurations and control parameters to achieve a given task. A classic tool to describe specifications of the desired force/displacement behavior in such problems is the stiffness ellipsoid, whose geometry is affected by the choice of parameters in both joint control and redundancy resolution-namely, gains and angles. As is well known, impedance control techniques can regulate gains to realize any desired shape of the Cartesian stiffness ellipsoid at the end-effector, so that robot geometry selection could appear secondary. However, humans do not use this possibility: To control the stiffness of our arms, we predominantly use arm configurations. Why is that, and does it makes sense to do the same in robots? To understand this discrepancy, we provide a more complete analysis of the task-space force/deformation behavior of compliant redundant arms to illustrate why the arm geometry plays a dominant role in interaction capabilities of robots. We introduce the notion of allowable Cartesian force/displacement (“stiffness feasibility”) regions (SFR) for compliant robots with given torque boundaries. We show that different robot configurations modify such regions and explore the role of robot geometry in achieving an appropriate SFR for the task at hand. The novel concepts and definitions are first illustrated in simulations. Experimental results are then provided to verify the effectiveness of the proposed Cartesian force and stiffness control." @default.
• W2624869465 created "2017-06-23" @default.
• W2624869465 creator A5031036223 @default.
• W2624869465 creator A5070028115 @default.
• W2624869465 creator A5082180334 @default.
• W2624869465 date "2017-12-01" @default.
• W2624869465 modified "2023-10-05" @default.
• W2624869465 title "Choosing Poses for Force and Stiffness Control" @default.
• W2624869465 cites W1494098115 @default.
• W2624869465 cites W1526262508 @default.
• W2624869465 cites W1607107688 @default.
• W2624869465 cites W1856925845 @default.
• W2624869465 cites W2032539430 @default.
• W2624869465 cites W2035713360 @default.
• W2624869465 cites W2043490072 @default.
• W2624869465 cites W2049410986 @default.
• W2624869465 cites W2062105527 @default.
• W2624869465 cites W2109944455 @default.
• W2624869465 cites W2112474089 @default.
• W2624869465 cites W2117832730 @default.
• W2624869465 cites W2131666656 @default.
• W2624869465 cites W2144082062 @default.
• W2624869465 cites W2152916401 @default.
• W2624869465 cites W2155192562 @default.
• W2624869465 cites W2166328906 @default.
• W2624869465 doi "https://doi.org/10.1109/tro.2017.2708087" @default.
• W2624869465 hasPublicationYear "2017" @default.
• W2624869465 type Work @default.
• W2624869465 sameAs 2624869465 @default.
• W2624869465 citedByCount "35" @default.
• W2624869465 countsByYear W26248694652019 @default.
• W2624869465 countsByYear W26248694652020 @default.
• W2624869465 countsByYear W26248694652021 @default.
• W2624869465 countsByYear W26248694652022 @default.
• W2624869465 countsByYear W26248694652023 @default.
• W2624869465 crossrefType "journal-article" @default.
• W2624869465 hasAuthorship W2624869465A5031036223 @default.
• W2624869465 hasAuthorship W2624869465A5070028115 @default.
• W2624869465 hasAuthorship W2624869465A5082180334 @default.
• W2624869465 hasConcept C111919701 @default.
• W2624869465 hasConcept C121332964 @default.
• W2624869465 hasConcept C127413603 @default.
• W2624869465 hasConcept C1276947 @default.
• W2624869465 hasConcept C133731056 @default.
• W2624869465 hasConcept C144171764 @default.
• W2624869465 hasConcept C152124472 @default.
• W2624869465 hasConcept C154945302 @default.
• W2624869465 hasConcept C16038011 @default.
• W2624869465 hasConcept C19966478 @default.
• W2624869465 hasConcept C2524010 @default.
• W2624869465 hasConcept C2775924081 @default.
• W2624869465 hasConcept C2777984285 @default.
• W2624869465 hasConcept C2779372316 @default.
• W2624869465 hasConcept C33923547 @default.
• W2624869465 hasConcept C41008148 @default.
• W2624869465 hasConcept C44154836 @default.
• W2624869465 hasConcept C47446073 @default.
• W2624869465 hasConcept C57489055 @default.
• W2624869465 hasConcept C66938386 @default.
• W2624869465 hasConcept C74222875 @default.
• W2624869465 hasConcept C8652668 @default.
• W2624869465 hasConcept C90509273 @default.
• W2624869465 hasConcept C97355855 @default.
• W2624869465 hasConceptScore W2624869465C111919701 @default.
• W2624869465 hasConceptScore W2624869465C121332964 @default.
• W2624869465 hasConceptScore W2624869465C127413603 @default.
• W2624869465 hasConceptScore W2624869465C1276947 @default.
• W2624869465 hasConceptScore W2624869465C133731056 @default.
• W2624869465 hasConceptScore W2624869465C144171764 @default.
• W2624869465 hasConceptScore W2624869465C152124472 @default.
• W2624869465 hasConceptScore W2624869465C154945302 @default.
• W2624869465 hasConceptScore W2624869465C16038011 @default.
• W2624869465 hasConceptScore W2624869465C19966478 @default.
• W2624869465 hasConceptScore W2624869465C2524010 @default.
• W2624869465 hasConceptScore W2624869465C2775924081 @default.
• W2624869465 hasConceptScore W2624869465C2777984285 @default.
• W2624869465 hasConceptScore W2624869465C2779372316 @default.
• W2624869465 hasConceptScore W2624869465C33923547 @default.
• W2624869465 hasConceptScore W2624869465C41008148 @default.
• W2624869465 hasConceptScore W2624869465C44154836 @default.
• W2624869465 hasConceptScore W2624869465C47446073 @default.
• W2624869465 hasConceptScore W2624869465C57489055 @default.
• W2624869465 hasConceptScore W2624869465C66938386 @default.
• W2624869465 hasConceptScore W2624869465C74222875 @default.
• W2624869465 hasConceptScore W2624869465C8652668 @default.
• W2624869465 hasConceptScore W2624869465C90509273 @default.
• W2624869465 hasConceptScore W2624869465C97355855 @default.
• W2624869465 hasFunder F4320334678 @default.
• W2624869465 hasIssue "6" @default.
• W2624869465 hasLocation W26248694651 @default.
• W2624869465 hasOpenAccess W2624869465 @default.
• W2624869465 hasPrimaryLocation W26248694651 @default.
• W2624869465 hasRelatedWork W1494098115 @default.
• W2624869465 hasRelatedWork W1548528537 @default.
• W2624869465 hasRelatedWork W1674344047 @default.
• W2624869465 hasRelatedWork W1974194387 @default.
• W2624869465 hasRelatedWork W1997334918 @default.
• W2624869465 hasRelatedWork W2010986861 @default.

• next