Variable Spatial Springs for Robot Control

Stramigioli, Stefano and Duindam, Vincent (2001) Variable Spatial Springs for Robot Control. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29 - November 3, 2001, Maui, Hawaii, USA.

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Abstract:	This article presents a passive way to implement varying spatial springs. These are springs with controlling ports which can be used to modify their spatial rest length or spatial properties. These controlling ports have a dual structure which allows one to supervise the potential energy injected into the spring by varying its properties. A direct application in tele-manipulation using geometric scattering is briefly described
Item Type:	Conference or Workshop Item
Copyright:	©2001 IEEE
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/42452
Official URL:	http://dx.doi.org/10.1109/IROS.2001.976352
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