Variable Spatial Springs for Robot Control

Stefano Stramigioli; V. Duindam

doi:10.1109/IROS.2001.976352

Variable Spatial Springs for Robot Control

Stefano Stramigioli, V. Duindam

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

17 Citations (Scopus)

59 Downloads (Pure)

Abstract

This article presents a passive way to implement varying spatial springs. These are springs with controlling ports which can be used to modify their spatial rest length or spatial properties. These controlling ports have a dual structure which allows one to supervise the potential energy injected into the spring by varying its properties. A direct application in tele-manipulation using geometric scattering is briefly described

Original language	English
Title of host publication	Proceedings IROS2001: 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	1906-1911
Number of pages	5
Volume	4
ISBN (Print)	0-7803-6614-X
DOIs	https://doi.org/10.1109/IROS.2001.976352
Publication status	Published - 2001
Event	2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2001 - Maui, United States Duration: 29 Oct 2001 → 3 Nov 2001

Conference

Conference	2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2001
Abbreviated title	IROS
Country	United States
City	Maui
Period	29/10/01 → 3/11/01

Keywords

IR-42452
METIS-201583

Access to Document

10.1109/IROS.2001.976352

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Cite this

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title = "Variable Spatial Springs for Robot Control",

abstract = "This article presents a passive way to implement varying spatial springs. These are springs with controlling ports which can be used to modify their spatial rest length or spatial properties. These controlling ports have a dual structure which allows one to supervise the potential energy injected into the spring by varying its properties. A direct application in tele-manipulation using geometric scattering is briefly described",

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author = "Stefano Stramigioli and V. Duindam",

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publisher = "IEEE",

address = "United States",

note = "2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2001, IROS ; Conference date: 29-10-2001 Through 03-11-2001",

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Stramigioli, S & Duindam, V 2001, Variable Spatial Springs for Robot Control. in Proceedings IROS2001: 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 4, IEEE, Piscataway, NJ, pp. 1906-1911, 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2001, Maui, United States, 29/10/01. https://doi.org/10.1109/IROS.2001.976352

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AU - Stramigioli, Stefano

AU - Duindam, V.

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N2 - This article presents a passive way to implement varying spatial springs. These are springs with controlling ports which can be used to modify their spatial rest length or spatial properties. These controlling ports have a dual structure which allows one to supervise the potential energy injected into the spring by varying its properties. A direct application in tele-manipulation using geometric scattering is briefly described

AB - This article presents a passive way to implement varying spatial springs. These are springs with controlling ports which can be used to modify their spatial rest length or spatial properties. These controlling ports have a dual structure which allows one to supervise the potential energy injected into the spring by varying its properties. A direct application in tele-manipulation using geometric scattering is briefly described

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KW - METIS-201583

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DO - 10.1109/IROS.2001.976352

M3 - Conference contribution

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SP - 1906

EP - 1911

BT - Proceedings IROS2001: 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - IEEE

CY - Piscataway, NJ

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Y2 - 29 October 2001 through 3 November 2001

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