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  1. No Access

    Chapter and Conference Paper

    Input-Observer-Based Estimation of the External Torque for Single-Link Flexible-Joint Robots

    To enable safe interaction between a robot and its environment, it is necessary to monitor in real-time the external torque that acts on the robot. This paper proposes a strategy that exploits solely encoder a...

    Nikola Knežević, Maja Trumić… in Advances in Service and Industrial Robotics (2023)

  2. No Access

    Chapter and Conference Paper

    Comparison of Model-Based Simultaneous Position and Stiffness Control Techniques for Pneumatic Soft Robots

    Soft robots have been extensively studied for their ability to provide both good performance and safe human-robot interaction. In this paper, we present and compare the performance of two model-based control ...

    Maja Trumić, Kosta Jovanović… in Advances in Service and Industrial Robotics (2020)