Adaptive Impedance Control Applied to a Pneumatic Legged Robot

Tzafestas, C; M’Sirdi, N; Manamani, N

dc.contributor.author	Tzafestas, C	en
dc.contributor.author	M’Sirdi, N	en
dc.contributor.author	Manamani, N	en
dc.date.accessioned	2014-03-01T01:45:31Z
dc.date.available	2014-03-01T01:45:31Z
dc.date.issued	1997	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/24603
dc.subject	Feedback System	en
dc.subject	Impedance Control	en
dc.subject	Legged Robot	en
dc.subject	On-line Estimation	en
dc.subject	Quadruped Robot	en
dc.subject	Robust Control	en
dc.title	Adaptive Impedance Control Applied to a Pneumatic Legged Robot	en
heal.type	journalArticle	en
heal.identifier.primary	10.1023/A:1007987608963	en
heal.identifier.secondary	http://dx.doi.org/10.1023/A:1007987608963	en
heal.publicationDate	1997	en
heal.abstract	An adaptive impedance control scheme with estimation of robot and environment param- eters is proposed in this paper. It consists of two stages of adaptation and control. The first one performs an on-line estimation of the robot inertial parameters, during the complete (constrained or not) motion of the leg, while the second one compensates for the uncertainties on the charac-	en
heal.journalName	Journal of Intelligent and Robotic Systems	en
dc.identifier.doi	10.1023/A:1007987608963	en