Document Type

Article

Language

eng

Format of Original

4 p.

Publication Date

12-2015

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Source Publication

IEEE Transactions on Robotics

Source ISSN

1552-3098

Original Item ID

doi: 10.1109/TRO.2015.2496825

Abstract

A significant amount of research has been directed toward developing a more intuitive appreciation of spatial elastic behavior. Results of these analyses have been described in terms of behavior decompositions and in terms of behavior centers. In a recent paper entitled “The Principal Axes Decomposition of Spatial Stiffness Matrices” by Chen et al. (IEEE Trans. Robot., vol. 31, no. 1, pp. 191-207), a decomposition of spatial stiffness was presented, and centers of stiffness and compliance were identified. The results presented in the paper have substantial overlap with previously published results and redefine previously used terms. The objective of this communication is to clarify the contributions of prior work and to standardize the terminology used in describing spatial elastic behavior.

Comments

Accepted version. IEEE Transactions on Robotics, Vol. 31, No. 6 (December 2015): 1561-1564. DOI. © 2018 IEEE. Used with permission.

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