ICRA 2011 Paper Abstract


Paper ThP107.1

Grioli, Giorgio (UniversitÓ di Pisa), Bicchi, Antonio (University of Pisa)

A Real-Time Parametric Stiffness Observer for VSA Devices

Scheduled for presentation during the Regular Sessions "Variable Stiffness and Impedance Control I" (ThP107), Thursday, May 12, 2011, 13:40−13:55, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 18, 2019

Keywords Compliance and Impedance Control, Calibration and Identification


We consider the problem of estimating non-linear time-varying stiffness of a mechanical system based only on force and position measurements. A recent work presented a non-parametric stiffness observer, which converges to within an Uniformly Ultimately Bounded neighborhood of the real stiffness value. The method provides excellent results for applications where the system is persistently excited. In this paper, we provide a parametric identification method that complements the previous solution in that it can provide, after a sufficiently long learning period, a complete model of the nonlinear stiffness, which can be applied henceforth even in the absence of excitation. Convergence conditions for the proposed method are discussed. Simulation and experimental results are provided, illustrating the performance of the proposed algorithm.



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