Mechanical computation for passive force control

Ambarish Goswami*, Michael Peshkin

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations

Abstract

Force control implemented by a passive mechanical device (perhaps a wrist) has inherent advantages over active implementations. A passive mechanical device can regain some of the versatility of its active counterpart if it incorporates mechanical elements with programmable parameters, e.g. damping coefficients or spring stiffnesses. We wish to characterize the range of accommodation matrices that a passive device may be programmed to possess. Here we review the known theoretical limits on the accommodation (inverse damping) matrices that any linear system of programmable dampers may adopt. In this work we describe the set of attainable accommodation matrices, and show that each such matrix can be composed of a positive linear combinations of a fixed set of basis matrices.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Editors Anon
PublisherPubl by IEEE
Pages476-483
Number of pages8
ISBN (Print)0818634529
StatePublished - Jan 1 1993
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: May 2 1993May 6 1993

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1
ISSN (Print)1050-4729

Other

OtherProceedings of the IEEE International Conference on Robotics and Automation
CityAtlanta, GA, USA
Period5/2/935/6/93

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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