Compliance and Compliance Control Concerning International Regimes Serving Community Interests and/or Being Guided by the Principle of Solidarity

2021 ◽  
pp. 493-515
2013 ◽  
Vol 43 (1) ◽  
pp. 47-60
Author(s):  
Mihail Tsveov ◽  
Dimitar Chakarov

Abstract In the paper, different approaches for compliance control for human oriented robots are revealed. The approaches based on the non- antagonistic and antagonistic actuation are compared. In addition, an approach is investigated in this work for the compliance and the position control in the joint by means of antagonistic actuation. It is based on the capability of the joint with torsion leaf springs to adjust its stiffness. Models of joint stiffness are presented in this paper with antagonistic and non-antagonistic influence of the spring forces on the joint motion. The stiffness and the position control possibilities are investigated and the opportunity for their decoupling as well. Some results of numerical experiments are presented in the paper too.


2007 ◽  
Vol 6 (2-3) ◽  
pp. 133-151 ◽  
Author(s):  
J. G. Cederquist ◽  
R. Corin ◽  
M. A. C. Dekker ◽  
S. Etalle ◽  
J. I. den Hartog ◽  
...  
Keyword(s):  

2013 ◽  
Vol 10 (6) ◽  
pp. 506-514
Author(s):  
Shuang Gu ◽  
Cheng-Dong Wu ◽  
Yong Yue ◽  
Carsten Maple ◽  
Da-You Li ◽  
...  

1992 ◽  
Vol 25 (8) ◽  
pp. 663-670
Author(s):  
Dimitar Chakarov ◽  
Kostadin Kostadinoff

2020 ◽  
Vol 53 (2) ◽  
pp. 8538-8545
Author(s):  
Kim D. Listmann ◽  
Florian Hans ◽  
Arne Wahrburg

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