1 citations · 1 across the 1 of their papers we have counts for
3 papers
Adaptive Control of Motor-Position-Controlled Flexible Joint Robots with Uncertain Joint Stiffness
Annika Kirner, Grazia Zambella, Igor Kovacevic +3
Model-based control of flexible joint robots with position-controlled actuators relies on accurate knowledge of the joint compliance. In practice, precise stiffness models are ofte…
Experimental Comparison of Whole-Body Control Formulations for Humanoid Robots in Task Acceleration and Task Force Spaces
Sait Sovukluk, Grazia Zambella, Tobias Egle +1
This paper studies the experimental comparison of two different whole-body control formulations for humanoid robots: inverse dynamics whole-body control (ID-WBC) and passivity-base…
A Suspended Aerial Manipulation Avatar for Physical Interaction in Unstructured Environments
Fanyi Kong, Grazia Zambella, Simone Monteleone +3
This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aeria…