04b Atto di convegno in volume | Department of Computer, Control and Management Engineering

04b Atto di convegno in volume

Discrete-time models for gene transcriptional regulation networks
The Importance of Being Positive: Admissible Dynamics for Positive Systems
Extracting feasible robot parameters from dynamic coefficients using nonlinear optimization methods

We consider the problem of extracting a complete set of numerical parameters that characterize the robot dynamics, starting from the identified values of dynamic coefficients that linearly parametrize the robot dynamic equations. This information is relevant when realistic dynamic simulations have...
Control of generalized contact motion and force in physical human-robot interaction

During human-robot interaction tasks, a human may physically touch a robot and engage in a collaboration phase with exchange of contact forces and/or requiring coordinated motion of a common contact point. Under the premise of keeping the interaction safe, the robot controller should impose a...
Unilateral constraints in the Reverse Priority redundancy resolution method
Identifying the dynamic model used by the KUKA LWR: A reverse engineering approach
A Reverse Priority approach to multi-task control of redundant robots
Estimation of contact forces using a virtual force sensor
Discrete-time velocity control of redundant robots with acceleration/torque optimization properties
A pure signal-based stiffness estimation for VSA devices

© Università degli Studi di Roma "La Sapienza" - Piazzale Aldo Moro 5, 00185 Roma