2 citations · 2 across the 2 of their papers we have counts for
2 papers
eess.SY2022★ 2 cited
Tuning rules for passivity-based integral control for a class of mechanical systems
Carmen Chan-Zheng, Mauricio Muñoz-Arias, Jacquelien M. A. Scherpen
This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic force…
cs.RO2020
A variable rest length impedance grasping strategy in the port-Hamiltonian framework
Mauricio Munoz-Arias, Jacquelien Scherpen, Alessandro Macchelli
This work is devoted to an impedance grasping strategy for a class of standard mechanical systems in the port-Hamiltonian framework. We embed a variable rest-length of the springs…