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Backstepping Control of Variable Stiffness Robots.

, , and . IEEE Trans. Contr. Sys. Techn., 23 (6): 2195-2202 (2015)

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Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints., , , , , , and . IEEE Trans. Robotics, 29 (5): 1085-1101 (2013)Energy Shaping Control for a Class of Underactuated Euler-Lagrange Systems., , and . SyRoCo, volume 47 of IFAC Proceedings Volumes, page 567-575. International Federation of Automatic Control, (2012)Dynamic Trajectory Generation for Serial Elastic Actuated Robots., , , and . SyRoCo, volume 47 of IFAC Proceedings Volumes, page 636-643. International Federation of Automatic Control, (2012)Optimal torque and stiffness control in compliantly actuated robots., , , , , , and . IROS, page 2801-2808. IEEE, (2012)Nonlinear oscillations for cyclic movements in variable impedance actuated robotic arms., , and . ICRA, page 508-515. IEEE, (2013)Modal limit cycle control for variable stiffness actuated robots., , , , and . ICRA, page 4934-4941. IEEE, (2013)Dynamic modelling and control of variable stiffness actuators., , , , , and . ICRA, page 2155-2162. IEEE, (2010)State feedback damping control for a multi DOF variable stiffness robot arm., and . ICRA, page 5561-5567. IEEE, (2011)A modally adaptive control for multi-contact cyclic motions in compliantly actuated robotic systems., , , , and . IROS, page 5388-5395. IEEE, (2013)Wrist and forearm rotation of the DLR hand arm system: Mechanical design, shape analysis and experimental validation., , , and . IROS, page 1836-1842. IEEE, (2011)