supported by
the STIFF
EC project
STIFF/VIACTORS Summer School on Impedance supported by
the VIACTORS
EC project
.



Keynote speakers:
Alin Albu-Schäffer, DLR
Antonio Bicchi, U. Pisa
Etienne Burdet, Imperial
Neville Hogan, MIT
Oussama Khatib, Stanford
Gerald Loeb, USC
Joseph McIntyre, UPD-CNRS
Patrick van der Smagt, DLR
Sethu Vijayakumar, Edinburgh

Antonio Bicchi
Director - Interdepartmental Research Center "E. Piaggio"

Faculty of Engineering - University of Pisa
via Diotisalvi 2,56100 Pisa, Italy
Phone: +39 050 2217060
bicchi(at)centropiaggio.unipi.it

Kloster

video part 1
download this video here

video part 2
download this video here

Antonio Bicchi

Controlling and Measuring Impedance in Variable Stiffness Actuators for Robotics

In the talk, I will review some of the background, motivations and state
of the art for the design of variable impedance actuators for robotics.
I will then introduce the problem of controlling these actuators, both
in open loop - i.e. planning, possibly in an optimal way, their motions
and stiffness trajectories - and closed loop. The problem of measuring
stiffness will be hence considered, and several recently introduced
techniques to identify or estimate impedance will be reviewed and
explained.


Note: all PDF downloads for personal use only!

Related publications

  1. Grioli G, Bicchi A (2010). A Non-Invasive, Real-Time Method for Measuring Variable Stiffness. RSS [www]