Parameter identification of robotic systems with series elastic actuators

P.W.M. Zutven, van; D. Kostic; H. Nijmeijer

doi:10.3182/20100901-3-IT-2016.00127

Parameter identification of robotic systems with series elastic actuators

P.W.M. Zutven, van, D. Kostic, H. Nijmeijer

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

10 Citaten (Scopus)

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This paper presents a framework for identification of parameters of a robotic system with series elastic actuation. A model of the series elastic actuation is presented and a method for identification of the model parameters is proposed based on a regressor form of the system model. An algorithm is contributed for automatic derivation of the regressor form from the system equations of motion. The suggested framework is validated in experiments on a humanoid robot equipped with series elastic actuated joints.

Originele taal-2	Engels
Titel	Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems, 01-03 September 2010, Bologna, Italy
Plaats van productie	Italy, Bologna
Pagina's	350-355
DOI's	https://doi.org/10.3182/20100901-3-IT-2016.00127
Status	Gepubliceerd - 2010

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10.3182/20100901-3-IT-2016.00127

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title = "Parameter identification of robotic systems with series elastic actuators",

abstract = "This paper presents a framework for identification of parameters of a robotic system with series elastic actuation. A model of the series elastic actuation is presented and a method for identification of the model parameters is proposed based on a regressor form of the system model. An algorithm is contributed for automatic derivation of the regressor form from the system equations of motion. The suggested framework is validated in experiments on a humanoid robot equipped with series elastic actuated joints.",

author = "\{Zutven, van\}, P.W.M. and D. Kostic and H. Nijmeijer",

year = "2010",

doi = "10.3182/20100901-3-IT-2016.00127",

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Parameter identification of robotic systems with series elastic actuators. / Zutven, van, P.W.M.; Kostic, D.; Nijmeijer, H.
Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems, 01-03 September 2010, Bologna, Italy. Italy, Bologna, 2010. blz. 350-355.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › Academic › peer review

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AU - Kostic, D.

AU - Nijmeijer, H.

PY - 2010

Y1 - 2010

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AB - This paper presents a framework for identification of parameters of a robotic system with series elastic actuation. A model of the series elastic actuation is presented and a method for identification of the model parameters is proposed based on a regressor form of the system model. An algorithm is contributed for automatic derivation of the regressor form from the system equations of motion. The suggested framework is validated in experiments on a humanoid robot equipped with series elastic actuated joints.

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DO - 10.3182/20100901-3-IT-2016.00127

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BT - Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems, 01-03 September 2010, Bologna, Italy

CY - Italy, Bologna

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Parameter identification of robotic systems with series elastic actuators

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