Control of a biped robot driven by elastomer-based series elastic actuator

@article{Abe2012ControlOA,
  title={Control of a biped robot driven by elastomer-based series elastic actuator},
  author={Kouki Abe and Takahiro Suga and Yasutaka Fujimoto},
  journal={2012 12th IEEE International Workshop on Advanced Motion Control (AMC)},
  year={2012},
  pages={1-6}
}
This paper proposes the novel force control method based on higher-order derivative for high-backdrivable actuation of the robot employing elastomer-based series elastic actuators (SEAs). Control of SEAs is generally difficult because they consist of an underactuated 2-inertia system. Previously, we control it with a position control method. Lately, we employ a torque control method to overcome several problems. The new one enable robot to be controlled more easily, safely and efficiently. To… CONTINUE READING

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