Abstract
The present comment concerns the above paper. [DOI: 10.1115/1.4039394]
Issue Section:
Discussion
References
1.
Spyrakos-Papastavridis
, E.
, Dai
, J. S.
, Childs
, P. R. N.
, and Tsagarakis
, N. G.
, 2018
, “Selective-Compliance-Based Lagrange Model and Multilevel Non-Collocated Feedback Control of a Humanoid Robot
,” ASME J Mech. Rob.
, 10
(3
), p. 031009
. 2.
Lanari
, L.
, Sicard
, P.
, and Wen
, J. T.
, 1993
, “Stability and Performance Analysis of Flexible Joint Robots Under Feedforward Approximations
,” European Control Conference
, Groningen, The Netherlands
, June 28—July 1
, Vol. 2
, pp. 892
–897
.3.
Sicard
, P.
, Wen
, J. T.
, and Lanari
, L.
, 1992
, “Passivity/Lyapunov Based Controller Design for Trajectory Tracking of Flexible Joint Manipulators
” Cirsee Report #121, Rensselaer Polytechnic Institute, Electrical, Computer, and Systems Engineering Department
, New York
.4.
Battilotti
, S.
, and Lanari
, L.
, 1995
, “Global set Point Control via Link Position Measurement for Flexible Joint Robots
,” Syst. Control Lett.
, 25
(1
), pp. 21
–29
. 5.
Lanari
, L.
, Sicard
, P.
, and Wen
, J.
, 1993
, “Trajectory Tracking of Flexible Joint Robots: A Passivity Approach
,” European Control Conference
, Groningen, The Netherlands
, June 28–July 1
, pp. 886
–891
.6.
Bacciotti
, A.
, and Rosier
, A.
, 2005
, Liapunov Functions and Stability in Control Theory
, 2nd ed, Springer-Verlag
, Berlin
.7.
Khalil
, H.
, 2002
, Nonlinear Systems
, 3rd ed, Prentice Hall
, Upper Saddle River, NJ
.8.
Spyrakos-Papastavridis
, E.
, Medrano-Cerda
, G.
, Tsagarakis
, N.
, Dai
, J.
, and Caldwell
, D.
, 2013
, “Gravity Compensation Control of Compliant Joint Systems With Multiple Drives
,” IEEE International Conference on Robotics and Automation
, Karlsruhe, Germany
, May 6–10
, pp. 4960
–4966
.9.
Spyrakos-Papastavridis
, E.
, Medrano-Cerda
, G.
, Tsagarakis
, N.
, Dai
, J.
, and Caldwell
, D.
, 2013
, “A Compliant Humanoid Walking Strategy Based on the Switching of State Feedback Gravity Compensation Controllers
,” IEEE/RSJ International Conference on Intelligent Robots and Systems
, Tokyo, Japan
, Nov. 3–7
, pp. 3630
–3636
.10.
De Luca
, A.
, and Flacco
, F.
, 2011
, “A PD-Type Regulator With Exact Gravity Cancellation for Robots With Flexible Joints
,” IEEE International Conference on Robotics and Automation
, Shanghai, China
, May 9–13
, pp. 317
–323
.11.
Brogliato
, B.
, 2004
, “Absolute Stability and the Lagrange-Dirichlet Theorem With Monotone Multivalued Mappings
,” Systems and Control Letters
, 51
(5
), pp. 343
–353
. 12.
Xie
, W.
, Wen
, C.
, and Li
, Z.
, 2001
, “Input-to-State Stabilization of Switched Nonlinear Systems
,” Transactions Automatic Control
, 46
(7
), pp. 1111
–1116
. 13.
Spyrakos-Papastavridis
, E.
, Kashiri
, N.
, Lee
, J.
, Tsagarakis
, N.
, and Caldwell
, D.
, 2015
, “Online Impedance Parameter Tuning for Compliant Biped Balancing
,” IEEE-RAS 15th International Conference on Humanoid Robots
, Seoul, South Korea
, Nov. 3–5
, pp. 210
–216
.14.
Spyrakos-Papastavridis
, E.
, Perrin
, N.
, Tsagarakis
, N.
, Dai
, J.
, and Caldwell
, D.
, 2014
, “Lyapunov Stability Margins for Humanoid Robot Balancing
,” IEEE/ RSJ International Conference on Intelligent Robots and Systems
, Chicago, IL
, Sept. 14–18
, pp. 945
–951
15.
Spyrakos-Papastavridis
, E.
, Childs
, P.
, and Tsagarakis
, N.
, 2017
, “Variable Impedance Walking Using Time-Varying Lyapunov Stability Margins
,” IEEERAS 17th International Conference on Humanoid Robotics
, Birmingham
, Nov. 15–17
, pp. 318
–323
.16.
Medrano Cerda
, G. A.
, 2018
, “Remarks on Online Impedance Regulation Techniques for Compliant Humanoid Balancing
,”https://www.researchgate.net/publication/325176462_Remarks_On_Online_impedance_regulation_techniques_for_compliant_humanoid_balancing10.13140/RG.2.2.32761.36963, last modified May 2018, accessed October 2020.17.
Medrano Cerda
, G. A.
, 2018
, “Counter Examples to the Paper Online Impedance Regulation Techniques for Compliant Humanoid Balancing
,” https://www.researchgate.net/publication/325451838_Counter_Examples_to_the_paper_Online_impedance_regulation_techniques_for_compliant_humanoid_balancing, last modified May 2018, accessed October 2020.18.
Medrano Cerda
, G. A.
, 2018
, “Counter Examples Supplementary matlab Files
,” https://www.researchgate.net/publication/325545550_Counter_Examples_Suppl ementary_matlab_Files, last modified May 2018, accessed October 2020.19.
Medrano Cerda
, G. A.
, 2018
, “Comments on Online Impedance Parameter Tuning for Compliant Biped Balancing
,” https://www.researchgate.net/publication/325120005_Comments_On_Online_Impedance_Parameter_Tuning_ for_Compliant_Biped_Balancing, last modified May 2018, accessed October 2020.20.
Medrano Cerda
, G. A.
, 2018
, “Discussion on Variable impedance Walking Using Time-Varying Lyapunov Stability Margins
,” https://www.researchgate.net/publication/325171423_Discussion_On_Variable_impedance_walking_using_Time-Varying_Lyapunov_Stability_Margins, last modified May 2018, accessed October 2020.Copyright © 2022 by ASME
You do not currently have access to this content.