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Model-based feed-forward position control of constant curvature continuum robots using feedback linearization

V. Falkenhahn, A. Hildebrandt, R. Neumann, and O. Sawodny. IEEE International Conference on Robotics and Automation (ICRA), page 762-767. Piscataway, NJ, IEEE, (2015)
DOI: 10.1109/ICRA.2015.7139264

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Rüdiger Utikal University of Stuttgart

Rebekka Neumann University of Stuttgart

Univ. -Prof. Dr. -Ing. Sven Olaf Neumann University of Stuttgart

Dr. -Ing. Malte von Scheven University of Stuttgart

Other publications of authors with the same name

Optimal System Design of SISO-Servopneumatic Positioning Drives.A. Hildebrandt, R. Neumann, and O. Sawodny. IEEE Trans. Contr. Sys. Techn., 18 (1): 35-44 (2010)Bahnregelung servopneumatischer Antriebe - ein Vergleich von linearen und nichtlinearen Reglern (Continuous Path Control of Servo Pneumatic Drives - a Comparison of Linear and Non Linear Controllers).M. Göttert, and R. Neumann. Automatisierungstechnik, 55 (2): 69-74 (2007)Cascaded control concept of a robot with two degrees of freedom driven by four artificial pneumatic muscle actuatorsA. Hildebrandt, O. Sawodny, R. Neumann, and A. Hartmann. American Control Conference (ACC), page 680--685. Portland, OR, USA, (2005)Energy efficient adaptive control of pneumatic drives with switching valvesM. Doll, O. Sawodny, and R. Neumann. International Fluid Power Conference (IFK), (2012)Model-based feed-forward position control of constant curvature continuum robots using feedback linearizationV. Falkenhahn, A. Hildebrandt, R. Neumann, and O. Sawodny. IEEE International Conference on Robotics and Automation (ICRA), page 762-767. Piscataway, NJ, IEEE, (2015)Distributed Parameter Modeling of Flexible Ball Screw Drives Using Ritz Series DiscretizationB. Henke, O. Sawodny, and R. Neumann. IEEE ASME transactions on mechatronics, 20 (3): 1226-1235 (2015)Flatness-based MIMO control of hybrid stepper motors - design and implementation.B. Henke, A. Ruess, R. Neumann, M. Zeitz, and O. Sawodny. ACC, page 347-352. IEEE, (2014)Energy efficient use of compressed air in pneumatic drive systems for motion tasksM. Doll, R. Neumann, and O. Sawodny. International Conference on Fluid Power and Mechatronics (FPM), page 340--345. (2011)Optimal System and Design of SISO-Servopneumatic and Positioning DrivesA. Hildebrandt, R. Neumann, and O. Sawodny. IEEE Transactions on Control Systems Technology, 18 (1): 35--44 (January 2010)Dynamic modeling of constant curvature continuum robots using the Euler-Lagrange formalismV. Falkenhahn, T. Mahl, A. Hildebrandt, R. Neumann, and O. Sawodny. IEEE/ RSJ International Conference on Intelligent Robots and Systems (IROS), page 2428--2433. Chicago, IL, USA, (September 2014)