Distributed computation and control of robot motion dynamics on FPGAs

Autor: Vinzenz Bargsten, José de Gea Fernández

Publikováno v: SN Applied Sciences, Vol 2, Iss 7, Pp 1-20 (2020)

Abstract Driven by advances in miniaturized electronics, many robotic systems today consist of modular hardware components. This leads to numerous computing units that are distributed within such systems. In order to make better use of such hardware

Externí odkaz: https://doaj.org/article/76a259b3f0674943a7c86d734484fd6c

Design, analysis and control of the series-parallel hybrid RH5 humanoid robot

Autor: Shivesh Kumar, Carlos Mastalli, José de Gea Fernández, Julian Eber, Frank Kirchner, Olivier Stasse, Vinzenz Bargsten, Heiner Peters

Publikováno v: 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)
2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), Jul 2021, Munich, Germany. ⟨10.1109/HUMANOIDS47582.2021.9555770⟩
HUMANOIDS

International audience; Last decades of humanoid research has shown that humanoids developed for high dynamic performance require a stiff structure and optimal distribution of mass--inertial properties. Humanoid robots built with a purely tree type a

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::dda6588b6fdd60f1c84bbca097dccae4
https://hal.laas.fr/hal-03420889

Design,Modelling and Control of Novel Series-Elastic Actuators for Industrial Robots

Autor: Vinzenz Bargsten, José de Gea Fernández, Michael Zipper, Holger Sprengel, Bingbin Yu

Publikováno v: Actuators, Vol 9, Iss 1, p 6 (2020)
Actuators
Volume 9
Issue 1

This paper describes data-driven modelling methods and their use for the control of a novelset of series-elastic actuators (SEAs). A set of elastic actuators was developed in order to fulfill theend-user needs for tailored industrial collaborative ro

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::9baf214ffa85df12f0a9e8bc61dba18f
https://www.mdpi.com/2076-0825/9/1/6

Learning the Elasticity of a Series-Elastic Actuator for Accurate Torque Control

Autor: Yohannes Kassahun, Vinzenz Bargsten, José de Gea Fernández, Bingbin Yu

Publikováno v: Advances in Artificial Intelligence: From Theory to Practice ISBN: 9783319600413
IEA/AIE (1)

Series elastic actuators (SEAs) have been frequently used in torque control mode by using the elastic element as torque measuring device. In order to precisely control the torque, an ideal torque source is critical for higher level control strategies

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::841b9b037c44928e85cf40a2df0febf1
https://doi.org/10.1007/978-3-319-60042-0_60

Modeling, parameter identification and model-based control of a lightweight robotic manipulator

Autor: Vinzenz Bargsten, Pablo Zometa, Rolf Findeisen

Publikováno v: CCA

Nowadays many robotic tasks require close and compliant tracking of desired positions, paths, or forces. To achieve these goals, model-based control schemes provide a possible solution, allowing to directly consider the nonlinear dynamics. One of the

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::98795f2b0d7e8a198a1a668bd32efca9
https://doi.org/10.1109/cca.2013.6662756