video part 1
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video part 2
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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.