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 (pp. pp. 1906-1911).

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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
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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