Browsing by Author "Doppmann, C."
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Stable control of force, position, and stiffness for robot joints powered via pneumatic muscles
Uğurlu, Regaip Barkan; Forni, P.; Doppmann, C.; Sarıyıldız, E.; Morimoto, J. (IEEE, 2019-12)This paper proposes a novel controller framework for antagonistically driven pneumatic artificial muscle (PAM) actuators. The proposed controller can be stably configured in both torque-stiffness control and position-stiffness ... -
Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller
Uğurlu, Regaip Barkan; Forni, P.; Doppmann, C.; Morimoto, J. (IEEE, 2015)This paper describes a novel controller that is capable of simultaneously controlling torque and variable stiffness in real-time, for actuators with antagonistically driven pneumatic artificial muscles (PAMs). To this end, ... -
Towards balance recovery control for lower body exoskeleton robots with variable stiffness actuators: spring-loaded flywheel model
Doppmann, C.; Uğurlu, Regaip Barkan; Hamaya, M.; Teramae, T.; Noda, T.; Morimoto, J. (IEEE, 2015)This paper presents a biologically-inspired real-time balance recovery control strategy that is applied to a lower body exoskeleton with variable physical stiffness actuators at its ankle joints. For this purpose, a torsional ... -
Variable ankle stiffness improves balance control: experiments on a bipedal exoskeleton
Uğurlu, Regaip Barkan; Doppmann, C.; Hamaya, M.; Forni, P.; Teramae, T.; Noda, T.; Morimoto, J. (IEEE, 2016-02)This paper proposes a real-time balance control technique that can be implemented to bipedal robots (exoskeletons, humanoids) whose ankle joints are powered via variable physical stiffness actuators. To achieve active ...
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