Art

J-GLOBAL ID：201502204694035047   Reference number：15A0401277

Adaptive impedance control of a variable stiffness actuator

可変剛性アクチュエータの適応インピーダンス制御

Author (3)： OZAWA Ryuta (Ritsumeikan Univ., Shiga, JPN) ,  KOBAYASHI Hiroaki (Meiji Univ., Kawasaki, JPN) ,  ISHIBASHI Ryota (Tokyo Metropolitan Univ., Tokyo, JPN)
Material： Advanced Robotics  (Adv Robot)
Volume： 29  Issue： 3/4  Page： 273-286  Publication year： 2015 
JST Material Number： T0339A  ISSN： 0169-1864  Document type： Article
Article type： 原著論文  Country of issue： United Kingdom (GBR)  Language： ENGLISH (EN)

Thesaurus term： rigidity ,  position control ,  power control ,  adaptive control ,  *actuator ,  elastic material ,  torque control ,  design ,  consumed electric power ,  *impedance control ,  *variable rigidity ,  control design ,  mechanical property
Semi thesaurus term： controller design ,  low electric power

JST classification (2)： Motion and control of robots  (IC04012J) ,  Design,manufacturing,and components of robots  (IC04013A)

Reference (45)：

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• Morita T, Sugano S. Design and development of a new robot joint using a mechanical impedance adjuster. In: Proceedings IEEE International Conference on Robotics Automation. Nagoya, Japan; 1995 May; p. 2469-2475.
• Tonietti G, Schiavi R, Bicchi A. Design and control of a variable stiffness actuator for safe and fast physical human/robot interaction. In: Proceedings IEEE International Conference on Robotics Automation. Vol. 4, Barcelona, Spain: 2005; p. 528-533.
• Okada M, Nakamura Y. Development of a cybernetic shoulder - a three-DOF mechanism that imitates biological shoulder motion -, IEEE Trans. Robot. 2005; 21:438-443.

Terms in the title (4)： 可変剛性 ,  アクチュエータ ,  適応 ,  インピーダンス制御