Compliant control of a hydraulic humanoid joint

Darrin C. Bentivegna; Christopher G. Atkeson; Jung Yup Kim

doi:10.1109/ICHR.2007.4813914

Compliant control of a hydraulic humanoid joint

Darrin C. Bentivegna
, Christopher G. Atkeson
, Jung Yup Kim

Dept. of Mechanical System and Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

39 Scopus citations

Abstract

This paper presents an analysis of a hydraulic joint on a humanoid robot. Various controllers have been designed that allow the limb to have a range of characteristics such as being stiff or compliant.

Original language	English
Title of host publication	Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007
Publisher	IEEE Computer Society
Pages	483-489
Number of pages	7
ISBN (Print)	9781424418626
DOIs	https://doi.org/10.1109/ICHR.2007.4813914
State	Published - 2007
Event	2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007 - Pittsburgh, PA, United States Duration: 29 Nov 2007 → 1 Dec 2007

Publication series

Name	Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007

Conference

Conference	2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007
Country/Territory	United States
City	Pittsburgh, PA
Period	29/11/07 → 1/12/07

Access to Document

10.1109/ICHR.2007.4813914

Cite this

Bentivegna, D. C., Atkeson, C. G., & Kim, J. Y. (2007). Compliant control of a hydraulic humanoid joint. In Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007 (pp. 483-489). Article 4813914 (Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007). IEEE Computer Society. https://doi.org/10.1109/ICHR.2007.4813914

@inproceedings{1784cd04e8834ae6bee5b68e24e47178,

title = "Compliant control of a hydraulic humanoid joint",

abstract = "This paper presents an analysis of a hydraulic joint on a humanoid robot. Various controllers have been designed that allow the limb to have a range of characteristics such as being stiff or compliant.",

author = "Bentivegna, \{Darrin C.\} and Atkeson, \{Christopher G.\} and Kim, \{Jung Yup\}",

year = "2007",

doi = "10.1109/ICHR.2007.4813914",

language = "English",

isbn = "9781424418626",

series = "Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007",

publisher = "IEEE Computer Society",

pages = "483--489",

booktitle = "Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007",

note = "2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007 ; Conference date: 29-11-2007 Through 01-12-2007",

}

Bentivegna, DC, Atkeson, CG & Kim, JY 2007, Compliant control of a hydraulic humanoid joint. in Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007., 4813914, Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007, IEEE Computer Society, pp. 483-489, 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007, Pittsburgh, PA, United States, 29/11/07. https://doi.org/10.1109/ICHR.2007.4813914

Compliant control of a hydraulic humanoid joint. / Bentivegna, Darrin C.; Atkeson, Christopher G.; Kim, Jung Yup.
Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007. IEEE Computer Society, 2007. p. 483-489 4813914 (Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Bentivegna, Darrin C.

AU - Atkeson, Christopher G.

AU - Kim, Jung Yup

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Y1 - 2007

N2 - This paper presents an analysis of a hydraulic joint on a humanoid robot. Various controllers have been designed that allow the limb to have a range of characteristics such as being stiff or compliant.

AB - This paper presents an analysis of a hydraulic joint on a humanoid robot. Various controllers have been designed that allow the limb to have a range of characteristics such as being stiff or compliant.

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U2 - 10.1109/ICHR.2007.4813914

DO - 10.1109/ICHR.2007.4813914

M3 - Conference contribution

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SN - 9781424418626

T3 - Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007

SP - 483

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BT - Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007

PB - IEEE Computer Society

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Y2 - 29 November 2007 through 1 December 2007

ER -

Compliant control of a hydraulic humanoid joint

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