| Grant number: | 21/09244-6 |
| Support Opportunities: | Scholarships in Brazil - Doctorate (Direct) |
| Start date: | October 01, 2021 |
| End date: | August 31, 2023 |
| Field of knowledge: | Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls |
| Principal Investigator: | Thiago Boaventura Cunha |
| Grantee: | Leonardo Felipe Lima Santos dos Santos |
| Host Institution: | Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil |
| Associated research grant: | 18/15472-9 - Hydraulic actuation impedance control for robots with legs and arms, AP.JP |
Abstract There is a broad range of robotic control systems and select the proper method can be difficult according to the application. In order to face such problem, this doctorate project going to explore the state of the art on impedance control among different actuation systems and propose a new impedance control algorithm with enhanced performance and stability properties. This new control method will be analysed on manipulation and locomotion tasks, mainly at physical impact secnarios. The algorithm validation will be also executed with the laboratory robots. (AU) | |
| News published in Agência FAPESP Newsletter about the scholarship: | |
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