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Abner Asignacion

dblp:255/4966 · DBLP profile ↗
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1ranked-venue papers
0as first author
0since 2021 · last 2020
0000-0003-1256-8480ORCID · reported

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1Systems, architecture and hardware · 1

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Motion planning and robot control · 70% Robot manipulation · 30%

Topics — the 4 heaviest of 4, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Motion planning and robot control › observer design
disturbance observer
0.412020
Safe high impedance control of a series-elastic actuator with a disturbance observer · ICRA 2020
Robotics › Robot manipulation › actuator design › compliant actuator
series elastic actuator control
0.412020
Safe high impedance control of a series-elastic actuator with a disturbance observer · ICRA 2020
Robotics › Motion planning and robot control › robot control
torque control
0.412020
Safe high impedance control of a series-elastic actuator with a disturbance observer · ICRA 2020
Robotics › Motion planning and robot control › robot control
passivity-based control
0.112020
Safe high impedance control of a series-elastic actuator with a disturbance observer · ICRA 2020

Methods — techniques the papers use, named apart from their topics

passivity analysis · 0.4disturbance observer · 0.4
YearPublicationVenuePosition
2020 Safe high impedance control of a series-elastic actuator with a disturbance observer
abstract
In many series-elastic actuator applications, the ability to safely render a wide range of impedance is important. Advanced torque control techniques such as the disturbance observer (DOB) can improve torque tracking performance, but their impact on safe impedance range is not established. Here, safety is defined with load port passivity, and passivity conditions are developed for two variants of DOB torque control. These conditions are used to determine the maximum safe stiffness and Z-region of the DOB controllers, which are analyzed and compared with the no DOB case. A feedforward controller is proposed which increases the maximum safe stiffness of the DOB approaches. The results are experimentally validated by manual excitation and in a high-stiffness environment.
Kevin Haninger, Abner Asignacion, Sehoon Oh
ICRA2