Research paper
Compliant interaction with elastic-joint robot arms
Two Cartesian compliance laws address vibration and chatter during unexpected environmental contact. Publisher-deposited text describes Lyapunov stability analysis and comparative force-interaction experiments on a cable-actuated manipulator.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Compliance Control for an Anthropomorphic Robot with Elastic Joints: Theory and Experiments
- Publisher
- ASME International
- Authors
- Loredana Zollo, Bruno Siciliano, Alessandro De Luca, Eugenio Guglielmelli, Paolo Dario
- DOI
- 10.1115/1.1978911
- First online publication
- 2004-07-09
- Source language
- en
- Source country
- US
- Edition
- Journal of Dynamic Systems, Measurement, and Control127(3),321; online2004-07-09, printSeptember2005
- Access
- Public bibliography and abstract
- Publication status
- Published
Source overview
Two Cartesian compliance laws address vibration and chatter during unexpected environmental contact. Publisher-deposited text describes Lyapunov stability analysis and comparative force-interaction experiments on a cable-actuated manipulator.
Use and review
Contact results apply to the described mechanism, controller and test conditions. They do not establish universal human injury thresholds or a certified protective function.
Sources & editions
Compliance Control for an Anthropomorphic Robot with Elastic Joints: Theory and Experiments ↗
ASME International · Journal of Dynamic Systems, Measurement, and Control127(3),321; online2004-07-09, printSeptember2005
Publisher-deposited Crossref abstract, authors and separate online/print dates checked; publisher landing403, restricted full text not acquired.